Ability to set RealSense2 presets

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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Ability to set RealSense2 presets #513

Closed eMrazSVK closed 4 years ago

eMrazSVK commented 4 years ago

Hello,

I would like to know, if there is an ability to use visual presets for RealSense D435 camera inside rtabmap. These presets are just JSON files provided by RealsSense developers.. It would be helpful, since quality of depth map sometimes really depends on those settings. If it is not present or planned for the future, I could take a look and maybe create a PR to implement it.

Thank you for your response.

matlabbe commented 4 years ago

Hi, Thanks for the suggestion. It has been added in the commit above. I cannot test it right now though, I don't have my D435. The code is there if something is not working: https://github.com/introlab/rtabmap/blob/b95195d8bbf5e0fbdab09f16c985e5300538d9d3/corelib/src/camera/CameraRealSense2.cpp#L487-L511

In GUI, the json path can be added under RealSense2 camera driver: json_preset_gui