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CameraRealSense2: Added Dual Mode (T265+D400)
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6 files changed

+228
-66
lines changed

6 files changed

+228
-66
lines changed

corelib/include/rtabmap/core/camera/CameraRealSense2.h

Lines changed: 4 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -76,6 +76,7 @@ class RTABMAP_EXP CameraRealSense2 :
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void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
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void setResolution(int width, int height, int fps = 30);
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void publishInterIMU(bool enabled);
79+
void setDualMode(bool enabled, const Transform & extrinsics);
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// T265 related parameters
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void setImagesRectified(bool enabled);
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void setOdomProvided(bool enabled);
@@ -98,7 +99,7 @@ class RTABMAP_EXP CameraRealSense2 :
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private:
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#ifdef RTABMAP_REALSENSE2
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rs2::context * ctx_;
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rs2::device * dev_;
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std::vector<rs2::device *> dev_;
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std::string deviceId_;
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rs2::syncer * syncer_;
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float depth_scale_meters_;
@@ -128,6 +129,8 @@ class RTABMAP_EXP CameraRealSense2 :
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int cameraHeight_;
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int cameraFps_;
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bool publishInterIMU_;
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bool dualMode_;
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Transform dualExtrinsics_;
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static Transform realsense2PoseRotation_;
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static Transform realsense2PoseRotationInv_;

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