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add xvDepthColor

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This commit is contained in:
Borong Yuan
2024-05-28 17:08:49 +08:00
parent 3d5f1ad5c2
commit fb37b3adba
4 changed files with 72 additions and 16 deletions
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2
corelib/include/rtabmap/core/CameraRGBD.h
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@@ -37,4 +37,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraRealSense2.h>
#include <rtabmap/core/camera/CameraRGBDImages.h>
#include <rtabmap/core/camera/CameraK4A.h>
#include <rtabmap/core/camera/CameraSeerSense.h>

1
corelib/include/rtabmap/core/CameraStereo.h
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@@ -36,4 +36,3 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/camera/CameraStereoTara.h>
#include <rtabmap/core/camera/CameraMyntEye.h>
#include <rtabmap/core/camera/CameraDepthAI.h>
#include <rtabmap/core/camera/CameraSeerSense.h>

8
corelib/include/rtabmap/core/camera/CameraSeerSense.h
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@@ -1,5 +1,6 @@
#pragma once
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
@@ -29,13 +30,14 @@ public:
private:
#ifdef RTABMAP_XVSDK
Transform imuLocalTransform_;
CameraModel cameraModel_;
bool imuPublished_;
bool publishInterIMU_;
std::shared_ptr<xv::Device> device_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
std::map<double, std::pair<cv::Vec3d, cv::Vec3d>> imuBuffer_;
std::pair<double, std::pair<cv::Mat, cv::Mat>> lastData_;
UMutex imuMutex_;
UMutex dataMutex_;
#endif
};