Merge branch 'borongyuan-master'

introlab · May 30, 2023 · d88c816 · d88c816
2 parents ae3fda3 + 5b1c9e7
commit d88c816
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Showing 4 changed files with 232 additions and 190 deletions.
diff --git a/corelib/include/rtabmap/core/camera/CameraDepthAI.h b/corelib/include/rtabmap/core/camera/CameraDepthAI.h
@@ -58,6 +58,9 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 	void setOutputDepth(bool enabled, int confidence = 200);
 	void setIMUFirmwareUpdate(bool enabled);
 	void setIMUPublished(bool published);
+	void publishInterIMU(bool enabled);
+	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;
@@ -76,12 +79,15 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 	int resolution_;
 	bool imuFirmwareUpdate_;
 	bool imuPublished_;
+	bool publishInterIMU_;
+	float dotProjectormA_;
+	float floodLightmA_;
 	std::shared_ptr<dai::Device> device_;
 	std::shared_ptr<dai::DataOutputQueue> leftQueue_;
 	std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;
-	std::shared_ptr<dai::DataOutputQueue> imuQueue_;
 	std::map<double, cv::Vec3f> accBuffer_;
 	std::map<double, cv::Vec3f> gyroBuffer_;
+	UMutex imuMutex_;
 #endif
 };