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Add options to enable IR featues on OAK Pro models

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This commit is contained in:
Borong Yuan
2023-05-18 01:34:25 +08:00
parent 263eb6fbde
commit ff83b14b49
4 changed files with 92 additions and 1 deletions
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4
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -58,6 +58,8 @@ public:
void setOutputDepth(bool enabled, int confidence = 200);
void setIMUFirmwareUpdate(bool enabled);
void setIMUPublished(bool published);
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
@@ -76,6 +78,8 @@ private:
int resolution_;
bool imuFirmwareUpdate_;
bool imuPublished_;
float dotProjectormA_;
float floodLightmA_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;

25
corelib/src/camera/CameraDepthAI.cpp
View File

@@ -106,6 +106,24 @@ void CameraDepthAI::setIMUPublished(bool published)
#endif
}
void CameraDepthAI::setLaserDotBrightness(float dotProjectormA)
{
#ifdef RTABMAP_DEPTHAI
dotProjectormA_ = dotProjectormA;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
void CameraDepthAI::setFloodLightBrightness(float floodLightmA)
{
#ifdef RTABMAP_DEPTHAI
floodLightmA_ = floodLightmA;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
bool CameraDepthAI::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UDEBUG("");
@@ -268,6 +286,13 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
leftQueue_ = device_->getOutputQueue("rectified_left", 1, false);
rightOrDepthQueue_ = device_->getOutputQueue(outputDepth_?"depth":"rectified_right", 1, false);
std::vector<std::tuple<std::string, int, int>> irDrivers = device_->getIrDrivers();
if(!irDrivers.empty())
{
device_->setIrLaserDotProjectorBrightness(dotProjectormA_);
device_->setIrFloodLightBrightness(floodLightmA_);
}
uSleep(2000); // avoid bad frames on start
return true;