i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added suggestion from https://github.com/introlab/rtabmap/issues/614#issuecomment-731769818

Browse Source
This commit is contained in:
matlabbe
2020-11-22 12:32:39 -05:00
parent dab407e5b9
commit e4cb59b74d
4 changed files with 122 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
corelib/include/rtabmap/core/camera/CameraRealSense2.h
View File

@@ -75,6 +75,7 @@ public:
void setEmitterEnabled(bool enabled);
void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
void setResolution(int width, int height, int fps = 30);
void setGlobalTimeSync(bool enabled);
void publishInterIMU(bool enabled);
void setDualMode(bool enabled, const Transform & extrinsics);
void setJsonConfig(const std::string & json);
@@ -93,7 +94,7 @@ private:
Transform & pose,
unsigned int & poseConfidence,
IMU & imu,
int maxWaitTimeMs = 35) const;
int maxWaitTimeMs = 35);
#endif
protected:
@@ -121,6 +122,7 @@ private:
UMutex imuMutex_;
double lastImuStamp_;
bool clockSyncWarningShown_;
bool imuGlobalSyncWarningShown_;
bool emitterEnabled_;
bool ir_;
@@ -130,6 +132,7 @@ private:
int cameraWidth_;
int cameraHeight_;
int cameraFps_;
bool globalTimeSync_;
bool publishInterIMU_;
bool dualMode_;
Transform dualExtrinsics_;