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d/dai: Even more tidy

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This commit is contained in:
Moses Turner 2021-06-11 11:46:31 -05:00 committed by Jakob Bornecrantz
parent 576593010f
commit 6285223fd2
1 changed files with 32 additions and 16 deletions
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48
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -52,7 +52,7 @@ DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_WARN)
*
*/
class depthairameWrapper
class DepthAIFrameWrapper
{
public:
struct xrt_frame frame = {};
@ -63,7 +63,7 @@ public:
extern "C" void
depthai_frame_wrapper_destroy(struct xrt_frame *xf)
{
depthairameWrapper *dfw = (depthairameWrapper *)xf;
DepthAIFrameWrapper *dfw = (DepthAIFrameWrapper *)xf;
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 xrt_fs base;
@ -136,7 +144,7 @@ depthai_do_one_frame(struct depthai_fs *depthai)
uint64_t timestamp_ns = nano.count();
// 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;
// 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->device = d;
if (true) {
enum depthai_camera_type camera_type = RGB_OV_9782;
switch (camera_type) {
case (RGB_OV_9782):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
depthai->fps = 60; // 120?
depthai->fps = 60; // Currently only supports 60.
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
} else if (false) {
break;
case (RGB_IMX_378):
depthai->width = 1920;
depthai->height = 1080;
depthai->format = XRT_FORMAT_R8G8B8;
@ -360,22 +372,26 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
depthai->fps = 118; // Actual max.
depthai->interleaved = true;
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 {
break;
case (MONO_OV_9282_L):
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?
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.