i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraRealSense2: refactored for freezing/crash issues on stop

Browse Source
This commit is contained in:
matlabbe
2021-01-18 14:58:33 -05:00
parent 70e9dff7da
commit 5d777469ff
2 changed files with 84 additions and 99 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
corelib/include/rtabmap/core/camera/CameraRealSense2.h
View File

@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_config.h>
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#include <librealsense2/hpp/rs_frame.hpp>
#endif
@@ -86,6 +87,7 @@ public:
#ifdef RTABMAP_REALSENSE2
private:
void close();
void imu_callback(rs2::frame frame);
void pose_callback(rs2::frame frame);
void frame_callback(rs2::frame frame);
@@ -103,14 +105,14 @@ protected:
private:
#ifdef RTABMAP_REALSENSE2
rs2::context * ctx_;
std::vector<rs2::device *> dev_;
rs2::context ctx_;
std::vector<rs2::device> dev_;
std::string deviceId_;
rs2::syncer * syncer_;
rs2::syncer syncer_;
float depth_scale_meters_;
rs2_intrinsics * depthIntrinsics_;
rs2_intrinsics * rgbIntrinsics_;
rs2_extrinsics * depthToRGBExtrinsics_;
rs2_intrinsics depthIntrinsics_;
rs2_intrinsics rgbIntrinsics_;
rs2_extrinsics depthToRGBExtrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;