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CameraOrbbec: support explicit rate on non-TOF cameras. (#1627)

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* rtabmap-rgbd_camera: added width/height options, 
* using CameraViewer for visualization by default (use -pcl option for old visualization). 
* CameraViewer: added capture and render rate.
* Note that non-TOF orbbec cameras could not be tested.
This commit is contained in:
matlabbe
2025-12-21 11:52:38 -08:00
committed by GitHub
parent af10d6b778
commit 92aff2129f
6 changed files with 241 additions and 143 deletions
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4
guilib/include/rtabmap/gui/CameraViewer.h
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UEventsHandler.h>
#include <QDialog>
#include <QElapsedTimer>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
@@ -73,6 +74,9 @@ private:
QCheckBox * showScanCheckbox_;
QCheckBox * markerCheckbox_;
MarkerDetector * markerDetector_;
QElapsedTimer fpsTimer_;
double lastCapturePeriod_;
double previousCaptureStamp_;
};
} /* namespace rtabmap */