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add depthai gftt detector (#1047)

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* add depthai feature detector draft

* update depthai gftt config

* optimize to detect more features
This commit is contained in:
Borong Yuan
2023-06-12 03:57:26 +08:00
committed by GitHub
parent 0c476936e3
commit d031d79369
4 changed files with 111 additions and 1 deletions
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7
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -62,6 +62,8 @@ public:
void publishInterIMU(bool enabled);
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
void setDetectFeatures(int detectFeatures = 0);
void setGFTTDetector(bool useHarrisDetector, double minDistance = 7.0f, int numTargetFeatures = 1000);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
@@ -84,9 +86,14 @@ private:
bool publishInterIMU_;
float dotProjectormA_;
float floodLightmA_;
int detectFeatures_;
bool useHarrisDetector_;
double minDistance_;
int numTargetFeatures_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
std::shared_ptr<dai::DataOutputQueue> featuresQueue_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
UMutex imuMutex_;