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L515 refactoring (realsense v2.41.0, firmware 1.5.3): added IR-only mode support, fixed support with latest firmware, T265+L515 working, related to #574 #614 #629. MainWindow: Selecting RealSense2, ZED sdk, K4A, Mynteye drivers automatically enable gravity optimization (with IMU filtering).

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matlabbe
2021-01-07 23:51:06 -05:00
parent f1993d9cd7
commit a67dbc26f2
9 changed files with 245 additions and 124 deletions
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5
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -75,6 +75,7 @@ public:
void setEmitterEnabled(bool enabled);
void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
void setResolution(int width, int height, int fps = 30);
void setDepthResolution(int width, int height, int fps = 30);
void setGlobalTimeSync(bool enabled);
void publishInterIMU(bool enabled);
void setDualMode(bool enabled, const Transform & extrinsics);
@@ -132,13 +133,15 @@ private:
int cameraWidth_;
int cameraHeight_;
int cameraFps_;
int cameraDepthWidth_;
int cameraDepthHeight_;
int cameraDepthFps_;
bool globalTimeSync_;
bool publishInterIMU_;
bool dualMode_;
Transform dualExtrinsics_;
std::string jsonConfig_;
bool closing_;
bool isL500_;
static Transform realsense2PoseRotation_;
static Transform realsense2PoseRotationInv_;