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Update data sync implementation for DepthAI

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This commit is contained in:
Borong Yuan
2023-05-27 21:28:43 +08:00
parent 52e417c313
commit 8d6c809c3c
3 changed files with 102 additions and 162 deletions
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4
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -58,6 +58,7 @@ public:
void setOutputDepth(bool enabled, int confidence = 200);
void setIMUFirmwareUpdate(bool enabled);
void setIMUPublished(bool published);
void publishInterIMU(bool enabled);
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
@@ -78,14 +79,15 @@ private:
int resolution_;
bool imuFirmwareUpdate_;
bool imuPublished_;
bool publishInterIMU_;
float dotProjectormA_;
float floodLightmA_;
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_;
UMutex imuMutex_;
#endif
};