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CameraRealSense2: Odom extrinsics against another sensor can be calibrated with having to calibrate stereo first. DBViewer: fixed local grid wrongly using global grid parameters.

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matlabbe
2021-11-05 18:05:50 -04:00
parent 20bc281db7
commit ddd5eb5a41
8 changed files with 112 additions and 48 deletions
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6
corelib/include/rtabmap/core/Parameters.h
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@@ -830,7 +830,11 @@ public:
static bool isFeatureParameter(const std::string & param);
static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
static ParametersMap getDefaultParameters(const std::string & group);
static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group);
/**
* If remove=false: keep only parameters of the specified group.
* If remove=true: remove parameters of the specified group.
*/
static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
static void writeINI(const std::string & configFile, const ParametersMap & parameters);

5
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -89,7 +89,7 @@ public:
void setJsonConfig(const std::string & json);
// T265 related parameters
void setImagesRectified(bool enabled);
void setOdomProvided(bool enabled, bool imageStreamsDisabled=false);
void setOdomProvided(bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream = false);
#ifdef RTABMAP_REALSENSE2
private:
@@ -116,8 +116,6 @@ private:
std::string deviceId_;
rs2::syncer syncer_;
float depth_scale_meters_;
rs2_intrinsics depthIntrinsics_;
rs2_intrinsics rgbIntrinsics_;
cv::Mat depthBuffer_;
cv::Mat rgbBuffer_;
CameraModel model_;
@@ -138,6 +136,7 @@ private:
bool rectifyImages_;
bool odometryProvided_;
bool odometryImagesDisabled_;
bool odometryOnlyLeftStream_;
int cameraWidth_;
int cameraHeight_;
int cameraFps_;