Further improvements to DepthAI integration (#1458)

* Reorganize DepthAI params

* Advanced Tuning of DepthAI’s SGBM Pipeline

* Update IMU Local Transform for OAK-D LR, OAK-D SR, and PoE Devices

* Reorganiz the usage of DepthAI. Get params before creating the pipeline, and automatically determine the resolution of different models.

* Identify the IMU type to specifically handle BMI270 and BNO085/086

Author: borongyuan

corelib/include/rtabmap/core/camera/CameraDepthAI.h

@@ -50,21 +50,20 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 public:
 	CameraDepthAI(
 			const std::string & mxidOrName = "",
-			int resolution = 1, // 0=720p, 1=800p, 2=400p
-			float imageRate=0.0f,
+			int imageWidth = 1280, // 640 or 1280
+			float imageRate = 0.0f,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraDepthAI();
 
 	void setOutputMode(int outputMode = 0);
 	void setDepthProfile(int confThreshold = 200, int lrcThreshold = 5);
-	void setExtendedDisparity(bool extendedDisparity);
-	void setSubpixelMode(bool enabled, int fractionalBits = 3);
-	void setCompanding(bool enabled, int width=96);
-	void setRectification(bool useSpecTranslation, float alphaScaling = 0.0f, bool enabled=true);
+	void setExtendedDisparity(bool extendedDisparity = false, bool enableCompanding = false);
+	void setSubpixelMode(bool enabled = false, int fractionalBits = 3);
+	void setDisparityWidthAndFilter(int disparityWidth = 96, int medianFilter = 5);
+	void setRectification(bool useSpecTranslation = false, float alphaScaling = 0.0f, bool enabled = true);
 	void setIMU(bool imuPublished, bool publishInterIMU);
 	void setIrIntensity(float dotIntensity = 0.0f, float floodIntensity = 0.0f);
-	void setDetectFeatures(int detectFeatures = 0);
-	void setBlobPath(const std::string & blobPath);
+	void setDetectFeatures(int detectFeatures = 0, const std::string & blobPath = "");
 	void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
 	void setSuperPointDetector(float threshold = 0.01f, bool nms = true, int nmsRadius = 4);
 
@@ -84,10 +83,12 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 	int outputMode_;
 	int confThreshold_;
 	int lrcThreshold_;
-	int resolution_;
+	int imageWidth_;
 	bool extendedDisparity_;
+	bool enableCompanding_;
 	int subpixelFractionalBits_;
-	int compandingWidth_;
+	int disparityWidth_;
+	int medianFilter_;
 	bool useSpecTranslation_;
 	float alphaScaling_;
 	bool imagesRectified_;
@@ -103,7 +104,7 @@ class RTABMAP_CORE_EXPORT CameraDepthAI :
 	bool nms_;
 	int nmsRadius_;
 	std::string blobPath_;
-	std::shared_ptr<dai::Device> device_;
+	std::unique_ptr<dai::Device> device_;
 	std::shared_ptr<dai::DataOutputQueue> cameraQueue_;
 	std::map<double, cv::Vec3f> accBuffer_;
 	std::map<double, cv::Vec3f> gyroBuffer_;