从连接到手机的 OAK-D 设备获取 rgb 和视差图像的 Android 示例

#include 
#include 
#include 

#include 
#include "opencv2/core.hpp"
#include "depthai/depthai.hpp"

#include "utils.h"

using namespace std;

std::shared_ptr device;
shared_ptr qRgb, qDepth, qDet;
cv::Mat detection_img;

// Neural network
std::vector model_buffer;
static std::atomic syncNN{true};
std::vector detections;

// Closer-in minimum depth, disparity range is doubled (from 95 to 190):
static std::atomic extended_disparity{true};
auto maxDisparity = extended_disparity ? 190.0f :95.0f;

// Better accuracy for longer distance, fractional disparity 32-levels:
static std::atomic subpixel{false};
// Better handling for occlusions:
static std::atomic lr_check{false};

extern "C"
JNIEXPORT void JNICALL
Java_com_example_depthai_1android_1jni_1example