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d/dai: Add code so we can open mono cameras with compile time option

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This commit is contained in:
Jakob Bornecrantz 2021-06-11 16:52:50 +01:00 committed by Moses Turner
parent 96248931cc
commit 576593010f
1 changed files with 58 additions and 17 deletions
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75
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -84,15 +84,20 @@ struct depthai_fs
uint32_t width; uint32_t width;
uint32_t height; uint32_t height;
xrt_format format;
xrt_frame_sink *sink; xrt_frame_sink *sink;
dai::Device *device; dai::Device *device;
dai::DataOutputQueue *queue; dai::DataOutputQueue *queue;
dai::ColorCameraProperties::SensorResolution sensor_resoultion; dai::ColorCameraProperties::SensorResolution color_sensor_resoultion;
dai::CameraImageOrientation image_orientation;
dai::ColorCameraProperties::ColorOrder color_order; dai::ColorCameraProperties::ColorOrder color_order;
dai::MonoCameraProperties::SensorResolution mono_sensor_resoultion;
dai::CameraBoardSocket camera_board_socket;
dai::CameraImageOrientation image_orientation;
uint32_t fps; uint32_t fps;
bool interleaved; bool interleaved;
}; };
@ -140,7 +145,7 @@ depthai_do_one_frame(struct depthai_fs *depthai)
xf->destroy = depthai_frame_wrapper_destroy; xf->destroy = depthai_frame_wrapper_destroy;
xf->width = depthai->width; xf->width = depthai->width;
xf->height = depthai->height; xf->height = depthai->height;
xf->format = XRT_FORMAT_R8G8B8; xf->format = depthai->format;
xf->timestamp = timestamp_ns; xf->timestamp = timestamp_ns;
xf->data = imgFrame->getData().data(); xf->data = imgFrame->getData().data();
@ -218,7 +223,7 @@ depthai_fs_enumerate_modes(struct xrt_fs *xfs, struct xrt_fs_mode **out_modes, u
modes[0].width = depthai->width; modes[0].width = depthai->width;
modes[0].height = depthai->height; modes[0].height = depthai->height;
modes[0].format = XRT_FORMAT_R8G8B8; modes[0].format = depthai->format;
modes[0].stereo_format = XRT_STEREO_FORMAT_NONE; modes[0].stereo_format = XRT_STEREO_FORMAT_NONE;
*out_modes = modes; *out_modes = modes;
@ -340,19 +345,37 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
if (true) { if (true) {
depthai->width = 1280; depthai->width = 1280;
depthai->height = 800; depthai->height = 800;
depthai->sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P; depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG; depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
depthai->fps = 60; // 120? depthai->fps = 60; // 120?
depthai->interleaved = true; depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB; depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
} else { } else if (false) {
depthai->width = 1920; depthai->width = 1920;
depthai->height = 1080; depthai->height = 1080;
depthai->sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_1080_P; depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_1080_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO; depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 118; depthai->fps = 118; // Actual max.
depthai->interleaved = true; depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB; depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
} else if (false) {
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // 120?
} else {
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // 120?
} }
// Some debug printing. // Some debug printing.
@ -363,18 +386,36 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
dai::Pipeline p = {}; dai::Pipeline p = {};
auto colorCam = p.create<dai::node::ColorCamera>();
auto xlinkOut = p.create<dai::node::XLinkOut>(); auto xlinkOut = p.create<dai::node::XLinkOut>();
xlinkOut->setStreamName("preview"); xlinkOut->setStreamName("preview");
colorCam->setPreviewSize(depthai->width, depthai->height);
colorCam->setResolution(depthai->sensor_resoultion);
colorCam->setImageOrientation(depthai->image_orientation);
colorCam->setInterleaved(depthai->interleaved);
colorCam->setFps(depthai->fps);
colorCam->setColorOrder(depthai->color_order);
// Link plugins CAM -> XLINK std::shared_ptr<dai::node::ColorCamera> colorCam = nullptr;
colorCam->preview.link(xlinkOut->input); std::shared_ptr<dai::node::MonoCamera> monoCam = nullptr;
if (depthai->format == XRT_FORMAT_R8G8B8) {
colorCam = p.create<dai::node::ColorCamera>();
colorCam->setPreviewSize(depthai->width, depthai->height);
colorCam->setResolution(depthai->color_sensor_resoultion);
colorCam->setImageOrientation(depthai->image_orientation);
colorCam->setInterleaved(depthai->interleaved);
colorCam->setFps(depthai->fps);
colorCam->setColorOrder(depthai->color_order);
// Link plugins CAM -> XLINK
colorCam->preview.link(xlinkOut->input);
}
if (depthai->format == XRT_FORMAT_L8) {
monoCam = p.create<dai::node::MonoCamera>();
monoCam->setBoardSocket(depthai->camera_board_socket);
monoCam->setResolution(depthai->mono_sensor_resoultion);
monoCam->setImageOrientation(depthai->image_orientation);
monoCam->setFps(depthai->fps);
// Link plugins CAM -> XLINK
monoCam->out.link(xlinkOut->input);
}
// Start the pipeline // Start the pipeline
d->startPipeline(p); d->startPipeline(p);