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CameraRealSense2: added stereo ir support for D400 cameras, added publishInterIMU parameter (required for VINS fusion).

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matlabbe
2019-09-18 20:55:48 -04:00
parent b2b1977f8b
commit 955660ba2a
6 changed files with 239 additions and 73 deletions
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6
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -73,8 +73,9 @@ public:
// parameters are set during initialization
// D400 series
void setEmitterEnabled(bool enabled);
void setIRDepthFormat(bool enabled);
void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
void setResolution(int width, int height, int fps = 30);
void publishInterIMU(bool enabled);
// T265 related parameters
void setImagesRectified(bool enabled);
void setOdomProvided(bool enabled);
@@ -116,14 +117,17 @@ private:
UMutex imuMutex_;
double hostStartStamp_;
double cameraStartStamp_;
double lastImuStamp_;
bool emitterEnabled_;
bool ir_;
bool irDepth_;
bool rectifyImages_;
bool odometryProvided_;
int cameraWidth_;
int cameraHeight_;
int cameraFps_;
bool publishInterIMU_;
static Transform realsense2PoseRotation_;
static Transform realsense2PoseRotationInv_;