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Enable on-device feature detectors for color camera (#1470)

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This commit is contained in:
Borong Yuan
2025-03-18 01:33:10 +08:00
committed by GitHub
parent 28dbf1c98a
commit 135110c9b6
1 changed files with 9 additions and 8 deletions
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17
corelib/src/camera/CameraDepthAI.cpp
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@@ -191,11 +191,6 @@ void CameraDepthAI::setDetectFeatures(int detectFeatures, const std::string & bl
#ifdef RTABMAP_DEPTHAI #ifdef RTABMAP_DEPTHAI
detectFeatures_ = detectFeatures; detectFeatures_ = detectFeatures;
blobPath_ = blobPath; blobPath_ = blobPath;
if(detectFeatures_ && outputMode_==2)
{
UWARN("On-device feature detectors cannot be enabled on color camera input, disabling on-device feature detector...");
detectFeatures_ = 0;
}
if(detectFeatures_>=2 && blobPath_.empty()) if(detectFeatures_>=2 && blobPath_.empty())
{ {
UWARN("Missing MyriadX blob file, disabling on-device feature detector"); UWARN("Missing MyriadX blob file, disabling on-device feature detector");
@@ -475,9 +470,10 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
auto sync = pipeline.create<dai::node::Sync>(); auto sync = pipeline.create<dai::node::Sync>();
sync->setSyncThreshold(std::chrono::milliseconds(int(500 / this->getImageRate()))); sync->setSyncThreshold(std::chrono::milliseconds(int(500 / this->getImageRate())));
std::shared_ptr<dai::node::Camera> rgbCamera;
if(outputMode_ == 2) if(outputMode_ == 2)
{ {
auto rgbCamera = pipeline.create<dai::node::Camera>(); rgbCamera = pipeline.create<dai::node::Camera>();
rgbCamera->setCamera("color"); rgbCamera->setCamera("color");
if(boardName == "BC2087") if(boardName == "BC2087")
rgbCamera->setSize(1920, 1200); rgbCamera->setSize(1920, 1200);
@@ -608,7 +604,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
cfg.featureMaintainer.minimumDistanceBetweenFeatures = minDistance_ * minDistance_; cfg.featureMaintainer.minimumDistanceBetweenFeatures = minDistance_ * minDistance_;
gfttDetector->initialConfig.set(cfg); gfttDetector->initialConfig.set(cfg);
if(imagesRectified_) if(outputMode_ == 2)
rgbCamera->video.link(gfttDetector->inputImage);
else if(imagesRectified_)
stereoDepth->rectifiedLeft.link(gfttDetector->inputImage); stereoDepth->rectifiedLeft.link(gfttDetector->inputImage);
else else
stereoDepth->syncedLeft.link(gfttDetector->inputImage); stereoDepth->syncedLeft.link(gfttDetector->inputImage);
@@ -620,6 +618,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
imageManip->setKeepAspectRatio(false); imageManip->setKeepAspectRatio(false);
imageManip->setMaxOutputFrameSize(320 * 200); imageManip->setMaxOutputFrameSize(320 * 200);
imageManip->initialConfig.setResize(320, 200); imageManip->initialConfig.setResize(320, 200);
imageManip->initialConfig.setFrameType(dai::ImgFrame::Type::GRAY8);
auto neuralNetwork = pipeline.create<dai::node::NeuralNetwork>(); auto neuralNetwork = pipeline.create<dai::node::NeuralNetwork>();
neuralNetwork->setBlobPath(blobPath_); neuralNetwork->setBlobPath(blobPath_);
@@ -627,7 +626,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
neuralNetwork->setNumNCEPerInferenceThread(1); neuralNetwork->setNumNCEPerInferenceThread(1);
neuralNetwork->input.setBlocking(false); neuralNetwork->input.setBlocking(false);
if(imagesRectified_) if(outputMode_ == 2)
rgbCamera->video.link(imageManip->inputImage);
else if(imagesRectified_)
stereoDepth->rectifiedLeft.link(imageManip->inputImage); stereoDepth->rectifiedLeft.link(imageManip->inputImage);
else else
stereoDepth->syncedLeft.link(imageManip->inputImage); stereoDepth->syncedLeft.link(imageManip->inputImage);