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d/dai: Control floodlight brightness with an env var

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Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
This commit is contained in:
Moses Turner 2023-01-14 15:05:14 -06:00 committed by Jakob Bornecrantz
parent 4643d4f089
commit 1ef49b92f2
1 changed files with 23 additions and 9 deletions
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32
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -50,7 +50,7 @@
#define DEPTHAI_ERROR(d, ...) U_LOG_IFL_E(d->log_level, __VA_ARGS__)
DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_INFO)
DEBUG_GET_ONCE_BOOL_OPTION(depthai_want_floodlight, "DEPTHAI_WANT_FLOODLIGHT", true)
DEBUG_GET_ONCE_NUM_OPTION(depthai_floodlight_brightness, "DEPTHAI_FLOODLIGHT_BRIGHTNESS", 1000)
DEBUG_GET_ONCE_NUM_OPTION(depthai_startup_wait_frames, "DEPTHAI_STARTUP_WAIT_FRAMES", 0)
@ -151,8 +151,12 @@ struct depthai_fs
bool interleaved;
bool oak_d_lite;
bool has_floodlight;
bool want_floodlight;
struct
{
float mA;
bool has;
} floodlights;
bool want_cameras;
bool want_imu;
@ -272,15 +276,16 @@ void
depthai_guess_ir_drivers(struct depthai_fs *depthai)
{
std::vector<std::tuple<std::string, int, int>> list_of_drivers = depthai->device->getIrDrivers();
depthai->has_floodlight = false;
depthai->floodlights.has = false;
for (std::tuple<std::string, int, int> elem : list_of_drivers) {
if (std::get<0>(elem) == "LM3644") {
DEPTHAI_DEBUG(depthai, "DepthAI: Found an IR floodlight");
depthai->has_floodlight = true;
depthai->floodlights.has = true;
}
}
if (!depthai->has_floodlight) {
if (!depthai->floodlights.has) {
DEPTHAI_DEBUG(depthai, "DepthAI: Didn't find any IR illuminators");
}
}
@ -749,8 +754,17 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
depthai->control_queue = depthai->device->getInputQueue("control").get();
if (depthai->has_floodlight && depthai->want_floodlight) {
depthai->device->setIrFloodLightBrightness(1500);
if (depthai->floodlights.has) {
float mA = depthai->floodlights.mA;
if (mA > 1500.0f) {
DEPTHAI_ERROR(depthai, "Can not set brightness to more then 1500mA, clamping!");
mA = 1500.0f;
}
if (mA > 0.0f) {
depthai->device->setIrFloodLightBrightness(mA);
}
}
//!@todo This code will turn the exposure time down, but you may not want it. Or we may want to rework Monado's
@ -980,7 +994,7 @@ depthai_create_and_do_minimal_setup(void)
depthai->node.break_apart = depthai_fs_node_break_apart;
depthai->node.destroy = depthai_fs_node_destroy;
depthai->log_level = debug_get_log_option_depthai_log();
depthai->want_floodlight = debug_get_bool_option_depthai_want_floodlight();
depthai->floodlights.mA = debug_get_num_option_depthai_floodlight_brightness();
depthai->device = d;
u_var_add_root(depthai, "DepthAI Source", 0);