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Add RGBD mode for OAK camera (#1179)

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* update depthai params

* add color+depth mode

* workarounds to avoid performance issues
This commit is contained in:
Borong Yuan
2023-12-15 01:59:35 +08:00
committed by GitHub
parent be3e6c538c
commit 45392fcfc6
4 changed files with 209 additions and 132 deletions
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19
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -55,13 +55,11 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraDepthAI();
void setOutputDepth(bool enabled, int confidence = 200);
void setUseSpecTranslation(bool useSpecTranslation);
void setAlphaScaling(float alphaScaling = 0.0f);
void setIMUPublished(bool published);
void publishInterIMU(bool enabled);
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
void setOutputMode(int outputMode = 0);
void setDepthProfile(int confThreshold = 200, int lrcThreshold = 5);
void setRectification(bool useSpecTranslation, float alphaScaling = 0.0f);
void setIMU(bool imuPublished, bool publishInterIMU);
void setIrBrightness(float dotProjectormA = 0.0f, float floodLightmA = 200.0f);
void setDetectFeatures(int detectFeatures = 0);
void setBlobPath(const std::string & blobPath);
void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
@@ -80,8 +78,9 @@ private:
cv::Size targetSize_;
Transform imuLocalTransform_;
std::string mxidOrName_;
bool outputDepth_;
int depthConfidence_;
int outputMode_;
int confThreshold_;
int lrcThreshold_;
int resolution_;
bool useSpecTranslation_;
float alphaScaling_;
@@ -98,7 +97,7 @@ private:
int nmsRadius_;
std::string blobPath_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> leftOrColorQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
std::shared_ptr<dai::DataOutputQueue> featuresQueue_;
std::map<double, cv::Vec3f> accBuffer_;