32 #include "rtabmap/core/Version.h"
34 #ifdef RTABMAP_DEPTHAI
35 #ifndef DEPTHAI_OPENCV_SUPPORT
36 #define DEPTHAI_OPENCV_SUPPORT
38 #include <depthai/depthai.hpp>
48 static bool available();
52 const std::string & mxidOrName =
"",
58 void setOutputMode(
int outputMode = 0);
59 void setDepthProfile(
int confThreshold = 200,
int lrcThreshold = 5);
60 void setExtendedDisparity(
bool extendedDisparity);
61 void setSubpixelMode(
bool enabled,
int fractionalBits = 3);
62 void setCompanding(
bool enabled,
int width=96);
63 void setRectification(
bool useSpecTranslation,
float alphaScaling = 0.0
f,
bool enabled=
true);
64 void setIMU(
bool imuPublished,
bool publishInterIMU);
65 void setIrIntensity(
float dotIntensity = 0.0
f,
float floodIntensity = 0.0
f);
66 void setDetectFeatures(
int detectFeatures = 0);
67 void setBlobPath(
const std::string & blobPath);
68 void setGFTTDetector(
bool useHarrisDetector =
false,
float minDistance = 7.0
f,
int numTargetFeatures = 1000);
69 void setSuperPointDetector(
float threshold = 0.01
f,
bool nms =
true,
int nmsRadius = 4);
71 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
72 virtual bool isCalibrated()
const;
73 virtual std::string getSerial()
const;
79 #ifdef RTABMAP_DEPTHAI
83 std::string mxidOrName_;
88 bool extendedDisparity_;
89 int subpixelFractionalBits_;
91 bool useSpecTranslation_;
93 bool imagesRectified_;
95 bool publishInterIMU_;
97 float floodIntensity_;
99 bool useHarrisDetector_;
101 int numTargetFeatures_;
105 std::string blobPath_;
106 std::shared_ptr<dai::Device> device_;
107 std::shared_ptr<dai::DataOutputQueue> cameraQueue_;
108 std::map<double, cv::Vec3f> accBuffer_;
109 std::map<double, cv::Vec3f> gyroBuffer_;