Application for interfacing a realsense camera (D-series 435 tested) to MOOS.
Publishes depth cloud and camera data to MOOS. Optionally the user can set a reference frame for the published point cloud. By default the realsense reference frame is used (z-axis pointing out from camera) however WORLD_YFORWARD (z up, y forward) and XYZ_PLANE (z down, x forward) are possible. These transforms require more rigorous testing.
- moos-ivp (see iPX4 readme for installation)
- realsense 2 library (
librealsense2) - PCL library (1.7.0 minimum requirement)
- math library