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OAK Internal Sync & DepthAI HF-Net Support (#1193)

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* Using Sync Node

* Using normalized IR intensity

* Set IMU output frequency to 200 Hz

* set sync threshold properly

* add depthai hfnet local head

* fix DB error

* add depthai hfnet global head

* fix data delay if image rate is set manually
This commit is contained in:
Borong Yuan
2024-03-28 03:29:06 +08:00
committed by GitHub
parent bc6d390fb6
commit bfeb487dba
5 changed files with 104 additions and 104 deletions
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10
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -59,7 +59,7 @@ public:
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 setIrIntensity(float dotIntensity = 0.0f, float floodIntensity = 0.0f);
void setDetectFeatures(int detectFeatures = 0);
void setBlobPath(const std::string & blobPath);
void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
@@ -86,8 +86,8 @@ private:
float alphaScaling_;
bool imuPublished_;
bool publishInterIMU_;
float dotProjectormA_;
float floodLightmA_;
float dotIntensity_;
float floodIntensity_;
int detectFeatures_;
bool useHarrisDetector_;
float minDistance_;
@@ -97,9 +97,7 @@ private:
int nmsRadius_;
std::string blobPath_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftOrColorQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
std::shared_ptr<dai::DataOutputQueue> featuresQueue_;
std::shared_ptr<dai::DataOutputQueue> cameraQueue_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
UMutex imuMutex_;