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Fixed CameraDepthAI with latest depthai version (using now camera eeprom calibration and added imu support)

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matlabbe
2021-07-28 14:19:30 -04:00
parent ae92ec40d7
commit 32bf0f9d61
6 changed files with 207 additions and 182 deletions
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4
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -69,6 +69,7 @@ protected:
private:
#ifdef RTABMAP_DEPTHAI
StereoCameraModel stereoModel_;
Transform imuLocalTransform_;
std::string deviceSerial_;
bool outputDepth_;
int depthConfidence_;
@@ -76,6 +77,9 @@ private:
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
std::shared_ptr<dai::DataOutputQueue> imuQueue_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
#endif
};