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UI: Exposed more depthai options, setting default rectification alpha to -1 to avoid OAK-D Pro crash

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matlabbe
2024-03-30 18:08:32 -07:00
parent 3b735907c8
commit a0476af896
9 changed files with 479 additions and 235 deletions
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6
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -57,6 +57,9 @@ public:
void setOutputMode(int outputMode = 0);
void setDepthProfile(int confThreshold = 200, int lrcThreshold = 5);
void setExtendedDisparity(bool extendedDisparity);
void setSubpixelMode(bool enabled, int fractionalBits = 3);
void setCompanding(bool enabled, int width=96);
void setRectification(bool useSpecTranslation, float alphaScaling = 0.0f);
void setIMU(bool imuPublished, bool publishInterIMU);
void setIrIntensity(float dotIntensity = 0.0f, float floodIntensity = 0.0f);
@@ -82,6 +85,9 @@ private:
int confThreshold_;
int lrcThreshold_;
int resolution_;
bool extendedDisparity_;
int subpixelFractionalBits_;
int compandingWidth_;
bool useSpecTranslation_;
float alphaScaling_;
bool imuPublished_;