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CameraRealSense2: Added Dual Mode (T265+D400)

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This commit is contained in:
matlabbe
2019-10-03 21:06:33 -04:00
parent 3ab5ec218b
commit 9cb1e4bbc5
6 changed files with 228 additions and 66 deletions
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5
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -76,6 +76,7 @@ public:
void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
void setResolution(int width, int height, int fps = 30);
void publishInterIMU(bool enabled);
void setDualMode(bool enabled, const Transform & extrinsics);
// T265 related parameters
void setImagesRectified(bool enabled);
void setOdomProvided(bool enabled);
@@ -98,7 +99,7 @@ protected:
private:
#ifdef RTABMAP_REALSENSE2
rs2::context * ctx_;
rs2::device * dev_;
std::vector<rs2::device *> dev_;
std::string deviceId_;
rs2::syncer * syncer_;
float depth_scale_meters_;
@@ -128,6 +129,8 @@ private:
int cameraHeight_;
int cameraFps_;
bool publishInterIMU_;
bool dualMode_;
Transform dualExtrinsics_;
static Transform realsense2PoseRotation_;
static Transform realsense2PoseRotationInv_;