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Integrated DepthAI (gen2) (#696)

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* Added OAK-D camera support (DepthAI)

* Fixed build without DepthAI dependency

* Added minimum version 2 for depthai

* fixed trusty build
This commit is contained in:
matlabbe
2021-03-07 12:27:21 -05:00
committed by GitHub
parent ab8f0e2b34
commit 351c659beb
22 changed files with 869 additions and 78 deletions
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tools/CameraRGBD/main.cpp
+12 -2
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@@ -64,6 +64,7 @@ void showUsage()
" 12=Kinect for Azure SDK\n"
" 13=MYNT EYE S\n"
" 14=ZED Open Capture\n"
" 15=depthai-core\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -device # Device ID (number or string)\n"
@@ -175,9 +176,9 @@ int main(int argc, char * argv[])
// last
driver = atoi(argv[i]);
if(driver < 0 || driver > 14)
if(driver < 0 || driver > 15)
{
UERROR("driver should be between 0 and 14.");
UERROR("driver should be between 0 and 15.");
showUsage();
}
}
@@ -324,6 +325,15 @@ int main(int argc, char * argv[])
}
camera = new rtabmap::CameraStereoZedOC(deviceId.empty()?-1:uStr2Int(deviceId));
}
else if (driver == 15)
{
if (!rtabmap::CameraDepthAI::available())
{
UERROR("Not built with depthai-core support...");
exit(-1);
}
camera = new rtabmap::CameraDepthAI(deviceId);
}
else
{
UFATAL("");