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

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This commit is contained in:
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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20
corelib/src/odometry/OdometryVINS.cpp
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@@ -104,6 +104,18 @@ public:
UWARN("Images are rectified but received calibration cannot be "
"used, make sure calibration in config file doesn't have "
"distortion or send raw images to VINS odometry.");
if(!featureTracker.m_camera.empty())
{
if(featureTracker.m_camera.front()->imageWidth() != model.left().imageWidth() ||
featureTracker.m_camera.front()->imageHeight() != model.left().imageHeight())
{
UERROR("Received images don't have same size (%dx%d) than in the config file (%dx%d)!",
model.left().imageWidth(),
model.left().imageHeight(),
featureTracker.m_camera.front()->imageWidth(),
featureTracker.m_camera.front()->imageHeight());
}
}
}
Transform imuCam0 = imuLocalTransform.inverse() * model.localTransform();
@@ -472,6 +484,14 @@ Transform OdometryVINS::computeTransform(
UWARN("VINS not yet initialized... waiting to get enough IMU messages");
}
}
else if(!data.imageRaw().empty() && !data.depthRaw().empty())
{
UERROR("VINS-Fusion doesn't work with RGB-D data, stereo images are required!");
}
else if(!data.imageRaw().empty() && data.depthOrRightRaw().empty())
{
UERROR("VINS-Fusion requires stereo images!");
}
#else
UERROR("RTAB-Map is not built with VINS support! Select another visual odometry approach.");
#endif