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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/src/odometry/OdometryF2M.cpp
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@@ -204,7 +204,7 @@ Transform OdometryF2M::computeTransform(
{
if(data.imu().orientation()[0] == 0.0 && data.imu().orientation()[1] == 0.0 && data.imu().orientation()[2] == 0.0)
{
UERROR("IMU received doesn't have orientation set, it is ignored.");
UERROR("IMU received doesn't have orientation set, it is ignored. If you are using RTAB-Map standalone, enable IMU filtering in Preferences->Source panel. On ROS, use \"imu_filter_madgwick\" or \"imu_complementary_filter\" packages to compute the orientation.");
}
else
{