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Added oak-d lite menu option (depthai: imu is now optionnal)

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matlabbe
2022-10-23 18:15:23 -07:00
parent 97a150b180
commit 769ace86ce
9 changed files with 167 additions and 72 deletions
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2
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -59,6 +59,7 @@ public:
void setOutputDepth(bool enabled, int confidence = 200);
void setIMUFirmwareUpdate(bool enabled);
void setIMUPublished(bool published);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
@@ -76,6 +77,7 @@ private:
int depthConfidence_;
int resolution_;
bool imuFirmwareUpdate_;
bool imuPublished_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;