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Features2D: set GFTT/ORB by default if GFTT/BRIEF is not available. RealSense2: fixed T265 local pose frame (when using realsense vio)

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matlabbe
2019-10-13 19:04:11 -04:00
parent 8924f9c5dc
commit dd8e21e05d
2 changed files with 11 additions and 11 deletions
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4
corelib/src/camera/CameraRealSense2.cpp
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@@ -931,8 +931,8 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
UINFO("poseToIMU = %s", poseToIMUT.prettyPrint().c_str());
UINFO("Set base to pose");
this->setLocalTransform(this->getLocalTransform()*poseToLeftT.inverse());
Transform opticalTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
this->setLocalTransform(this->getLocalTransform() * opticalTransform.inverse());
stereoModel_.setLocalTransform(this->getLocalTransform()*poseToLeftT);
imuLocalTransform_ = this->getLocalTransform()* poseToIMUT;
}