mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-01 12:46:12 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/dai: Add manual exposure controls

Browse source
This commit is contained in:
Moshi Turner 2023-04-12 00:56:49 -05:00 committed by Jakob Bornecrantz
parent ee0dad22d5
commit 53e738a093
1 changed files with 59 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

64
src/xrt/drivers/depthai/depthai_driver.cpp
View file

@ -157,6 +157,19 @@ struct depthai_fs
bool has;
} floodlights;
struct
{
bool active;
u_var_draggable_u16 exposure_time_ui;
u_var_draggable_u16 iso_ui;
uint16_t exposure_time;
uint16_t iso;
uint16_t last_exposure_time;
uint16_t last_iso;
} manual_exposure;
bool want_cameras;
bool want_imu;
@ -411,6 +424,27 @@ depthai_do_one_frame(struct depthai_fs *depthai)
xrt_frame_reference(&xf, NULL);
}
static void
depthai_maybe_send_exposure_command(struct depthai_fs *depthai)
{
if (!depthai->manual_exposure.active) {
return;
}
// If the user hasn't changed the exposure values since last we sent a command, we don't need to send a new one.
if (depthai->manual_exposure.last_exposure_time == depthai->manual_exposure.exposure_time && //
depthai->manual_exposure.last_iso == depthai->manual_exposure.iso) {
return;
}
dai::CameraControl ctrl;
ctrl.setManualExposure(depthai->manual_exposure.exposure_time, depthai->manual_exposure.iso);
depthai->control_queue->send(ctrl);
depthai->manual_exposure.last_exposure_time = depthai->manual_exposure.exposure_time;
depthai->manual_exposure.last_iso = depthai->manual_exposure.iso;
}
static void *
depthai_mainloop(void *ptr)
{
@ -425,6 +459,8 @@ depthai_mainloop(void *ptr)
depthai_do_one_frame(depthai);
depthai_maybe_send_exposure_command(depthai);
// Need to lock the thread when we go back to the while condition.
os_thread_helper_lock(&depthai->image_thread);
}
@ -764,11 +800,6 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
//!@todo This code will turn the exposure time down, but you may not want it. Or we may want to rework Monado's
//! AEG code to control the IR floodlight brightness in concert with the exposure itme. For now, disable.
#if 0
dai::CameraControl ctrl;
ctrl.setManualExposure(500, 700);
depthai->control_queue->send(ctrl);
#endif
}
#ifdef DEPTHAI_HAS_MULTICAM_SUPPORT
@ -992,6 +1023,23 @@ depthai_create_and_do_minimal_setup(void)
depthai->floodlights.mA = debug_get_num_option_depthai_floodlight_brightness();
depthai->device = d;
depthai->manual_exposure.active = false;
// Low values, useful for marker calibration on a monitor.
depthai->manual_exposure.iso = 270;
depthai->manual_exposure.exposure_time = 320;
depthai->manual_exposure.iso_ui.val = &depthai->manual_exposure.iso;
depthai->manual_exposure.iso_ui.min = 0;
depthai->manual_exposure.iso_ui.max = 1600;
depthai->manual_exposure.iso_ui.step = 1;
depthai->manual_exposure.exposure_time_ui.val = &depthai->manual_exposure.exposure_time;
depthai->manual_exposure.exposure_time_ui.min = 0;
// 160,000 us = 0.1s
depthai->manual_exposure.exposure_time_ui.max = 65535;
depthai->manual_exposure.exposure_time_ui.step = 1;
u_var_add_root(depthai, "DepthAI Source", 0);
for (int i = 0; i < 4; i++) {
u_sink_debug_init(&depthai->debug_sinks[i]);
@ -1001,6 +1049,12 @@ depthai_create_and_do_minimal_setup(void)
u_var_add_sink_debug(depthai, &depthai->debug_sinks[2], "Right");
u_var_add_sink_debug(depthai, &depthai->debug_sinks[3], "CamD");
u_var_add_bool(depthai, &depthai->manual_exposure.active, "Manual exposure");
u_var_add_draggable_u16(depthai, &depthai->manual_exposure.exposure_time_ui, "Exposure time");
u_var_add_draggable_u16(depthai, &depthai->manual_exposure.iso_ui, "ISO");
// Some debug printing.
depthai_guess_camera_type(depthai);
depthai_guess_ir_drivers(depthai);