monado/src/xrt/drivers/depthai/depthai_interface.h

// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface header for DepthAI camera.
 * @author Moses Turner <moses@collabora.com>
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @ingroup drv_depthai
 */

#pragma once

#include "xrt/xrt_frameserver.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"

#ifdef __cplusplus
extern "C" {
#endif

#undef DEPTHAI_HAS_MULTICAM_SUPPORT


struct t_stereo_camera_calibration;


#define DEPTHAI_VID 0x03e7
#define DEPTHAI_PID 0x2485
// FWIW, when the device is actively running, it reboots with the PID 0xf63b.

struct depthai_slam_startup_settings
{
	bool want_cameras;
	bool want_imu;
	bool half_size_ov9282;
	int frames_per_second;
};

int
depthai_3dof_device_found(struct xrt_prober *xp,
                          struct xrt_prober_device **devices,
                          size_t device_count,
                          size_t index,
                          cJSON *attached_data,
                          struct xrt_device **out_xdev);

/*!
 * @defgroup drv_depthai DepthAI frameserver driver
 * @ingroup drv
 *
 * @brief Frameserver for the DepthAI camera module.
 */

/*!
 * Create a DepthAI frameserver using a single RGB camera.
 *
 * @ingroup drv_depthai
 */
struct xrt_fs *
depthai_fs_monocular_rgb(struct xrt_frame_context *xfctx);

/*!
 * Create a DepthAI frameserver using two gray cameras.
 * Either OAK-D or OAK-D Lite. Custom FFC setups may or may not work.
 *
 * @ingroup drv_depthai
 */
struct xrt_fs *
depthai_fs_slam(struct xrt_frame_context *xfctx, struct depthai_slam_startup_settings *settings);

#ifdef DEPTHAI_HAS_MULTICAM_SUPPORT
/*!
 * Create a DepthAI frameserver using two rgb cameras.
 *
 * @ingroup drv_depthai
 */
struct xrt_fs *
depthai_fs_stereo_rgb(struct xrt_frame_context *xfctx);
#endif

/*!
 * Get the stereo calibration from a depthAI frameserver.
 *
 * @ingroup drv_depthai
 */
bool
depthai_fs_get_stereo_calibration(struct xrt_fs *xfs, struct t_stereo_camera_calibration **c_ptr);


#ifdef __cplusplus
}
#endif