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d/dai: Even more tidy
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576593010f
commit
6285223fd2
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@ -52,7 +52,7 @@ DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_WARN)
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*
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*
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*/
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*/
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class depthairameWrapper
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class DepthAIFrameWrapper
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{
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{
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public:
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public:
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struct xrt_frame frame = {};
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struct xrt_frame frame = {};
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@ -63,7 +63,7 @@ public:
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extern "C" void
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extern "C" void
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depthai_frame_wrapper_destroy(struct xrt_frame *xf)
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depthai_frame_wrapper_destroy(struct xrt_frame *xf)
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{
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{
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depthairameWrapper *dfw = (depthairameWrapper *)xf;
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DepthAIFrameWrapper *dfw = (DepthAIFrameWrapper *)xf;
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delete dfw;
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delete dfw;
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}
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}
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@ -74,6 +74,14 @@ depthai_frame_wrapper_destroy(struct xrt_frame *xf)
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*
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*
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*/
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*/
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enum depthai_camera_type
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{
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RGB_IMX_378,
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RGB_OV_9782,
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MONO_OV_9282_L,
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MONO_OV_9282_R,
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};
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struct depthai_fs
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struct depthai_fs
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{
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{
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struct xrt_fs base;
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struct xrt_fs base;
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@ -136,7 +144,7 @@ depthai_do_one_frame(struct depthai_fs *depthai)
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uint64_t timestamp_ns = nano.count();
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uint64_t timestamp_ns = nano.count();
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// Create a wrapper that will keep the frame alive as long as the frame was alive.
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// Create a wrapper that will keep the frame alive as long as the frame was alive.
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depthairameWrapper *dfw = new depthairameWrapper();
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DepthAIFrameWrapper *dfw = new DepthAIFrameWrapper();
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dfw->depthai_frame = imgFrame;
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dfw->depthai_frame = imgFrame;
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// Fill in all of the data.
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// Fill in all of the data.
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@ -342,16 +350,20 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
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depthai->ll = debug_get_log_option_depthai_log();
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depthai->ll = debug_get_log_option_depthai_log();
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depthai->device = d;
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depthai->device = d;
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if (true) {
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enum depthai_camera_type camera_type = RGB_OV_9782;
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switch (camera_type) {
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case (RGB_OV_9782):
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depthai->width = 1280;
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depthai->width = 1280;
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depthai->height = 800;
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depthai->height = 800;
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depthai->format = XRT_FORMAT_R8G8B8;
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depthai->format = XRT_FORMAT_R8G8B8;
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depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
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depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
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depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
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depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
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depthai->fps = 60; // 120?
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depthai->fps = 60; // Currently only supports 60.
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depthai->interleaved = true;
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depthai->interleaved = true;
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depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
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depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
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} else if (false) {
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break;
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case (RGB_IMX_378):
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depthai->width = 1920;
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depthai->width = 1920;
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depthai->height = 1080;
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depthai->height = 1080;
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depthai->format = XRT_FORMAT_R8G8B8;
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depthai->format = XRT_FORMAT_R8G8B8;
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@ -360,22 +372,26 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
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depthai->fps = 118; // Actual max.
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depthai->fps = 118; // Actual max.
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depthai->interleaved = true;
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depthai->interleaved = true;
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depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
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depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
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} else if (false) {
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break;
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depthai->width = 1280;
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case (MONO_OV_9282_L):
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depthai->height = 800;
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depthai->format = XRT_FORMAT_L8;
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depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
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depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
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depthai->image_orientation = dai::CameraImageOrientation::AUTO;
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depthai->fps = 60; // 120?
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} else {
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depthai->width = 1280;
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depthai->width = 1280;
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depthai->height = 800;
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depthai->height = 800;
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depthai->format = XRT_FORMAT_L8;
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depthai->format = XRT_FORMAT_L8;
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depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
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depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
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depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
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depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
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depthai->image_orientation = dai::CameraImageOrientation::AUTO;
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depthai->image_orientation = dai::CameraImageOrientation::AUTO;
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depthai->fps = 60; // 120?
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depthai->fps = 60; // Currently only supports 60.
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break;
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case (MONO_OV_9282_R):
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depthai->width = 1280;
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depthai->height = 800;
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depthai->format = XRT_FORMAT_L8;
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depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
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depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
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depthai->image_orientation = dai::CameraImageOrientation::AUTO;
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depthai->fps = 60; // Currently only supports 60.
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break;
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default: assert(false);
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}
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}
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// Some debug printing.
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// Some debug printing.
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