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RealSense: fixed color rectification. Fixed ZR300 odometry frame.

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This commit is contained in:
matlabbe
2018-09-26 20:51:12 -04:00
parent 0c2287df77
commit 5e08da51aa
7 changed files with 625 additions and 152 deletions
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11
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -379,6 +379,7 @@ class RTABMAP_EXP CameraRealSense :
{
public:
static bool available();
enum RGBSource {kColor, kInfrared, kFishEye};
public:
// default local transform z in, x right, y down));
@@ -391,11 +392,8 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
void setDepthScaledToRGBSize(bool enabled) {
#ifdef RTABMAP_REALSENSE
depthScaledToRGBSize_ = enabled;
#endif
}
void setDepthScaledToRGBSize(bool enabled);
void setRGBSource(RGBSource source);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
@@ -413,6 +411,9 @@ private:
int presetDepth_;
bool computeOdometry_;
bool depthScaledToRGBSize_;
RGBSource rgbSource_;
CameraModel cameraModel_;
std::vector<int> rsRectificationTable_;
int motionSeq_[2];
rs::slam::slam * slam_;