CameraDepthAI.h
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1 /*
2 Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
31 
33 #include "rtabmap/core/Camera.h"
34 #include "rtabmap/core/Version.h"
35 
36 #ifdef RTABMAP_DEPTHAI
37 #ifndef DEPTHAI_OPENCV_SUPPORT
38 #define DEPTHAI_OPENCV_SUPPORT
39 #endif
40 #include <depthai/depthai.hpp>
41 #endif
42 
43 namespace rtabmap
44 {
45 
47  public Camera
48 {
49 public:
50  static bool available();
51 
52 public:
54  const std::string & deviceSerial = "",
55  int resolution = 1, // 0=720p, 1=800p, 2=400p
56  float imageRate=0.0f,
57  const Transform & localTransform = Transform::getIdentity());
58  virtual ~CameraDepthAI();
59 
60  void setOutputDepth(bool enabled, int confidence = 200);
61  void setIMUFirmwareUpdate(bool enabled);
62  void setIMUPublished(bool published);
63 
64  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
65  virtual bool isCalibrated() const;
66  virtual std::string getSerial() const;
67 
68 protected:
69  virtual SensorData captureImage(CameraInfo * info = 0);
70 
71 private:
72 #ifdef RTABMAP_DEPTHAI
73  StereoCameraModel stereoModel_;
74  Transform imuLocalTransform_;
75  std::string deviceSerial_;
76  bool outputDepth_;
77  int depthConfidence_;
78  int resolution_;
79  bool imuFirmwareUpdate_;
80  bool imuPublished_;
81  std::shared_ptr<dai::Device> device_;
82  std::shared_ptr<dai::DataOutputQueue> leftQueue_;
83  std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
84  std::shared_ptr<dai::DataOutputQueue> imuQueue_;
85  std::map<double, cv::Vec3f> accBuffer_;
86  std::map<double, cv::Vec3f> gyroBuffer_;
87 #endif
88 };
89 
90 
91 } // namespace rtabmap
f
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
static Transform getIdentity()
Definition: Transform.cpp:401
#define RTABMAP_EXP
Definition: RtabmapExp.h:38


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:27