d/dai: Even more tidy

This commit is contained in:
Moses Turner 2021-06-11 11:46:31 -05:00 committed by Jakob Bornecrantz
parent 576593010f
commit 6285223fd2

View file

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