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UI: Update preferences with the new imu filter parameters. Camera: added imu filtering option. Updated support for zedm, D435i and T265.

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matlabbe
2019-05-13 18:42:46 -04:00
parent cbca362cc4
commit f8a8e55e7e
15 changed files with 762 additions and 262 deletions
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4
corelib/include/rtabmap/core/camera/CameraRealSense2.h
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@@ -82,7 +82,7 @@ public:
void pose_callback(rs2::frame frame);
void frame_callback(rs2::frame frame);
void multiple_message_callback(rs2::frame frame);
bool getPoseAndIMU(
void getPoseAndIMU(
const double & stamp,
Transform & pose,
unsigned int & poseConfidence,
@@ -110,6 +110,8 @@ private:
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> >
UMutex poseMutex_;
UMutex imuMutex_;
bool emitterEnabled_;
bool irDepth_;