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Added librealsense support #100

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This commit is contained in:
matlabbe
2016-07-26 18:39:34 -04:00
parent dbb29c7661
commit 9d09c509ab
17 changed files with 821 additions and 155 deletions
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40
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -64,6 +64,12 @@ class Registration;
class PacketPipeline;
}
namespace rs
{
class context;
class device;
}
typedef struct _freenect_context freenect_context;
typedef struct _freenect_device freenect_device;
@@ -266,6 +272,40 @@ private:
bool noiseFiltering_;
};
/////////////////////////
// CameraOpenNIPCL
/////////////////////////
class RTABMAP_EXP CameraRealSense :
public Camera
{
public:
static bool available();
public:
// default local transform z in, x right, y down));
CameraRealSense(
int deviceId = 0,
int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
private:
rs::context * ctx_;
rs::device * dev_;
int deviceId_;
int presetRGB_;
int presetDepth_;
};
/////////////////////////
// CameraRGBDImages