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CameraRealSense2: updated how stamping is done, updated default D435 frame resolution/fps

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matlabbe
2019-06-06 17:17:11 -04:00
parent e09a872fa2
commit b5f5623af4
5 changed files with 67 additions and 30 deletions
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2
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -114,6 +114,8 @@ private:
std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
UMutex poseMutex_;
UMutex imuMutex_;
double hostStartStamp_;
double cameraStartStamp_;
bool emitterEnabled_;
bool irDepth_;