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Added T265 odometry support

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This commit is contained in:
matlabbe
2019-05-12 19:27:32 -04:00
parent 750ad5bd44
commit cbca362cc4
2 changed files with 322 additions and 16 deletions
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26
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -35,6 +35,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/pcl_config.h>
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/hpp/rs_frame.hpp>
#endif
namespace rs2
{
@@ -65,11 +69,25 @@ public:
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
bool odomProvided() const;
// parameters are set during initialization
void setEmitterEnabled(bool enabled);
void setIRDepthFormat(bool enabled);
void setImagesRectified(bool enabled);
void setOdomProvided(bool enabled);
#ifdef RTABMAP_REALSENSE2
void imu_callback(rs2::frame frame);
void pose_callback(rs2::frame frame);
void frame_callback(rs2::frame frame);
void multiple_message_callback(rs2::frame frame);
bool getPoseAndIMU(
const double & stamp,
Transform & pose,
unsigned int & poseConfidence,
IMU & imu) const;
#endif
protected:
virtual SensorData captureImage(CameraInfo * info = 0);
@@ -88,10 +106,18 @@ private:
cv::Mat rgbBuffer_;
CameraModel model_;
StereoCameraModel stereoModel_;
Transform imuLocalTransform_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
bool emitterEnabled_;
bool irDepth_;
bool rectifyImages_;
bool odometryProvided_;
static Transform realsense2PoseRotation_;
static Transform realsense2PoseRotationInv_;
#endif
};