Added resolution parameters for Usb camera and realsense2 sources

corelib/include/rtabmap/core/camera/CameraRealSense2.h

@@ -59,7 +59,6 @@ public:
 	static bool available();
 
 public:
-	// default local transform z in, x right, y down));
 	CameraRealSense2(
 		const std::string & deviceId = "",
 		float imageRate = 0,
@@ -72,8 +71,11 @@ public:
 	bool odomProvided() const;
 
 	// parameters are set during initialization
+	// D400 series
 	void setEmitterEnabled(bool enabled);
 	void setIRDepthFormat(bool enabled);
+	void setResolution(int width, int height, int fps = 30);
+	// T265 related parameters
 	void setImagesRectified(bool enabled);
 	void setOdomProvided(bool enabled);
 
@@ -117,6 +119,9 @@ private:
 	bool irDepth_;
 	bool rectifyImages_;
 	bool odometryProvided_;
+	int cameraWidth_;
+	int cameraHeight_;
+	int cameraFps_;
 
 	static Transform realsense2PoseRotation_;
 	static Transform realsense2PoseRotationInv_;

corelib/include/rtabmap/core/camera/CameraVideo.h

@@ -58,6 +58,13 @@ public:
 	int getUsbDevice() const {return _usbDevice;}
 	const std::string & getFilePath() const {return _filePath;}
 
+	/**
+	 * Set wanted usb resolution, should be set before initialization. 0 means
+	 * default resolution. It won't be applied if a valid camera calibration
+	 * has been loaded, thus resolution from calibration is used.
+	 * */
+	void setResolution(int width, int height) {_width=width, _height=height;}
+
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
@@ -72,6 +79,8 @@ private:
 	// Usb camera
 	int _usbDevice;
 	std::string _guid;
+	int _width;
+	int _height;
 
 	CameraModel _model;
 };