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calibration tool: added RealSense2 T265 support

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matlabbe
2021-05-12 18:31:41 -04:00
parent 20c2e8b5be
commit 4390cb6428
1 changed files with 20 additions and 3 deletions
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23
tools/Calibration/main.cpp
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@@ -48,6 +48,7 @@ void showUsage()
" 5=Freenect2 (Kinect v2)\n" " 5=Freenect2 (Kinect v2)\n"
" 6=DC1394 (Bumblebee2)\n" " 6=DC1394 (Bumblebee2)\n"
" 7=FlyCapture2 (Bumblebee2)\n" " 7=FlyCapture2 (Bumblebee2)\n"
" 11=RealSense2 (T265)\n"
" --device # Device id\n" " --device # Device id\n"
" --debug Debug log\n" " --debug Debug log\n"
" --stereo Stereo: assuming device provides \n" " --stereo Stereo: assuming device provides \n"
@@ -139,11 +140,15 @@ int main(int argc, char * argv[])
printf("Unrecognized option : %s\n", argv[i]); printf("Unrecognized option : %s\n", argv[i]);
showUsage(); showUsage();
} }
if(driver < -1 || driver > 7) if(driver < -1 || driver > 15)
{ {
UERROR("driver should be between -1 and 7."); UERROR("driver should be between -1 and 15.");
showUsage(); showUsage();
} }
if(driver == 11)
{
stereo = true;
}
UINFO("Using driver %d", driver); UINFO("Using driver %d", driver);
UINFO("Using device %d", device); UINFO("Using device %d", device);
@@ -249,9 +254,21 @@ int main(int argc, char * argv[])
camera = new rtabmap::CameraStereoFlyCapture2(); camera = new rtabmap::CameraStereoFlyCapture2();
dialog.setStereoMode(stereo); dialog.setStereoMode(stereo);
} }
else if(driver == 11)
{
if(!rtabmap::CameraRealSense2::available())
{
UERROR("Not built with RealSense2 support...");
exit(-1);
}
camera = new rtabmap::CameraRealSense2();
((rtabmap::CameraRealSense2*)camera)->setImagesRectified(false);
dialog.setStereoMode(true);
dialog.setFisheyeImages(true);
}
else else
{ {
UFATAL(""); UFATAL("Calibration for driver %d not available.", driver);
} }
rtabmap::CameraThread * cameraThread = 0; rtabmap::CameraThread * cameraThread = 0;