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RealSense driver: added odometry option (ZR300)

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This commit is contained in:
matlabbe
2017-04-21 21:24:23 -04:00
parent 2e515f5fc7
commit bc2da10713
8 changed files with 509 additions and 30 deletions
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16
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -69,6 +69,9 @@ namespace rs
{
class context;
class device;
namespace slam {
class slam;
}
}
typedef struct _freenect_context freenect_context;
@@ -290,6 +293,7 @@ private:
/////////////////////////
// CameraRealSense
/////////////////////////
class slam_event_handler;
class RTABMAP_EXP CameraRealSense :
public Camera
{
@@ -302,6 +306,7 @@ public:
int deviceId = 0,
int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
bool computeOdometry = false,
float imageRate = 0,
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraRealSense();
@@ -309,6 +314,7 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -320,6 +326,16 @@ private:
int deviceId_;
int presetRGB_;
int presetDepth_;
bool computeOdometry_;
int motionSeq_[2];
rs::slam::slam * slam_;
UMutex slamLock_;
std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
UMutex dataMutex_;
USemaphore dataReady_;
#endif
};