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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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2
guilib/src/CameraViewer.cpp
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@@ -146,7 +146,7 @@ void CameraViewer::showImage(const rtabmap::SensorData & data)
showScanCheckbox_->setEnabled(true);
if(showScanCheckbox_->isChecked())
{
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloud(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), Transform::getIdentity(), Qt::yellow);
cloudView_->addCloud("scan", util3d::downsample(util3d::laserScanToPointCloud(data.laserScanRaw()), decimationSpin_->value()!=0?fabs(decimationSpin_->value()):1), data.laserScanRaw().localTransform(), Qt::yellow);
}
}