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Fixed a realsense2 camera crash on start. Refactored VINS-Fusion to always use rtabmap's calibration model no matter what (improved usability). Preferences/IMU: fixed publish inter imu checkbox disappearing if no imu filter is selected.

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This commit is contained in:
matlabbe
2025-11-01 13:07:50 -07:00
parent b04f607828
commit a20e161a5b
5 changed files with 170 additions and 92 deletions
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61
corelib/src/camera/CameraRealSense2.cpp
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@@ -712,14 +712,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
UINFO("%s %d %d %d %d %s type=%d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps(),
video_profile.stream_index(),
video_profile.stream_name().c_str(),
video_profile.stream_type());
UINFO("%s %d %d %d %d %s type=%d",
rs2_format_to_string(profile.format()),
video_profile.get()?video_profile.width():-1,
video_profile.get()?video_profile.height():-1,
profile.fps(),
profile.stream_index(),
profile.stream_name().c_str(),
profile.stream_type());
}
}
int pi = 0;
@@ -728,7 +728,8 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
auto video_profile = profile.as<rs2::video_stream_profile>();
if(!stereo)
{
if( (video_profile.width() == cameraWidth_ &&
if( (video_profile.get() &&
video_profile.width() == cameraWidth_ &&
video_profile.height() == cameraHeight_ &&
video_profile.fps() == cameraFps_) ||
(strcmp(sensors[i].get_info(RS2_CAMERA_INFO_NAME), "L500 Depth Sensor")==0 &&
@@ -778,7 +779,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
}
}
}
else if(video_profile.format() == RS2_FORMAT_MOTION_XYZ32F || video_profile.format() == RS2_FORMAT_6DOF)
else if(profile.format() == RS2_FORMAT_MOTION_XYZ32F || profile.format() == RS2_FORMAT_6DOF)
{
//D435i:
//MOTION_XYZ32F 0 0 200 (gyro)
@@ -817,6 +818,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
//T265:
if(!dualMode_ &&
video_profile.get() &&
video_profile.format() == RS2_FORMAT_Y8 &&
video_profile.width() == 848 &&
video_profile.height() == 800 &&
@@ -865,7 +867,7 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
}
added = true;
}
else if(video_profile.format() == RS2_FORMAT_MOTION_XYZ32F || video_profile.format() == RS2_FORMAT_6DOF)
else if(profile.format() == RS2_FORMAT_MOTION_XYZ32F || profile.format() == RS2_FORMAT_6DOF)
{
//MOTION_XYZ32F 0 0 200
//MOTION_XYZ32F 0 0 62
@@ -884,14 +886,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
for (auto& profile : profiles)
{
auto video_profile = profile.as<rs2::video_stream_profile>();
UERROR("%s %d %d %d %d %s type=%d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps(),
video_profile.stream_index(),
video_profile.stream_name().c_str(),
video_profile.stream_type());
UERROR("%s %d %d %d %d %s type=%d",
rs2_format_to_string(profile.format()),
video_profile.get()?video_profile.width():-1,
video_profile.get()?video_profile.height():-1,
profile.fps(),
profile.stream_index(),
profile.stream_name().c_str(),
profile.stream_type());
}
return false;
}
@@ -1075,13 +1077,13 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
{
auto video_profile = profilesPerSensor[i][j].as<rs2::video_stream_profile>();
UINFO("Opening: %s %d %d %d %d %s type=%d", rs2_format_to_string(
video_profile.format()),
video_profile.width(),
video_profile.height(),
video_profile.fps(),
video_profile.stream_index(),
video_profile.stream_name().c_str(),
video_profile.stream_type());
profilesPerSensor[i][j].format()),
video_profile.get()?video_profile.width():-1,
video_profile.get()?video_profile.height():-1,
profilesPerSensor[i][j].fps(),
profilesPerSensor[i][j].stream_index(),
profilesPerSensor[i][j].stream_name().c_str(),
profilesPerSensor[i][j].stream_type());
}
if(globalTimeSync_ && sensors[i].supports(rs2_option::RS2_OPTION_GLOBAL_TIME_ENABLED))
{
@@ -1525,6 +1527,13 @@ SensorData CameraRealSense2::captureImage(SensorCaptureInfo * info)
else
{
UERROR("Missing frames (received %d, needed=%d)", (int)frameset.size(), desiredFramesetSize);
if(frameset.size()>0)
{
for (auto it = frameset.begin(); it != frameset.end(); ++it)
{
UERROR("Received frame only from %s", (*it).get_profile().stream_name().c_str());
}
}
}
}
catch(const std::exception& ex)