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CameraRealSense2: added json preset file option (#513)

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This commit is contained in:
matlabbe
2020-04-01 12:25:28 -04:00
parent dcc15f7555
commit b95195d8bb
5 changed files with 108 additions and 29 deletions
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2
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -77,6 +77,7 @@ public:
void setResolution(int width, int height, int fps = 30);
void publishInterIMU(bool enabled);
void setDualMode(bool enabled, const Transform & extrinsics);
void setJsonConfig(const std::string & json);
// T265 related parameters
void setImagesRectified(bool enabled);
void setOdomProvided(bool enabled);
@@ -131,6 +132,7 @@ private:
bool publishInterIMU_;
bool dualMode_;
Transform dualExtrinsics_;
std::string jsonConfig_;
static Transform realsense2PoseRotation_;
static Transform realsense2PoseRotationInv_;