mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-28 18:46:18 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/dai: Set fields after nullptr check

Browse source
This commit is contained in:
Jakob Bornecrantz 2022-10-02 15:18:58 +01:00 committed by Moses Turner
parent 00c3cc4c2f
commit 9077261ada
1 changed files with 13 additions and 7 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

20
src/xrt/drivers/depthai/depthai_driver.cpp
View file

@ -1015,12 +1015,14 @@ extern "C" struct xrt_fs *
depthai_fs_monocular_rgb(struct xrt_frame_context *xfctx)
{
struct depthai_fs *depthai = depthai_create_and_do_minimal_setup();
depthai->want_cameras = true;
depthai->want_imu = false;
if (depthai == nullptr) {
return nullptr;
}
// Set after checking for null.
depthai->want_imu = false;
depthai->want_cameras = true;
// Currently hardcoded to the default Oak-D camera.
enum depthai_camera_type camera_type = RGB_IMX_378;
@ -1043,12 +1045,12 @@ depthai_fs_slam(struct xrt_frame_context *xfctx, struct depthai_slam_startup_set
return nullptr;
}
// Set after checking for null.
depthai->fps = settings->frames_per_second;
depthai->want_cameras = settings->want_cameras;
depthai->want_imu = settings->want_imu;
depthai->half_size_ov9282 = settings->half_size_ov9282;
// Last bit is to setup the pipeline.
depthai_setup_stereo_grayscale_pipeline(depthai);
@ -1064,12 +1066,14 @@ extern "C" struct xrt_fs *
depthai_fs_stereo_grayscale_and_imu(struct xrt_frame_context *xfctx)
{
struct depthai_fs *depthai = depthai_create_and_do_minimal_setup();
depthai->want_cameras = true;
depthai->want_imu = true;
if (depthai == nullptr) {
return nullptr;
}
// Set after checking for null.
depthai->want_cameras = true;
depthai->want_imu = true;
// Last bit is to setup the pipeline.
depthai_setup_stereo_grayscale_pipeline(depthai);
@ -1086,12 +1090,14 @@ extern "C" struct xrt_fs *
depthai_fs_just_imu(struct xrt_frame_context *xfctx)
{
struct depthai_fs *depthai = depthai_create_and_do_minimal_setup();
depthai->want_cameras = false;
depthai->want_imu = true;
if (depthai == nullptr) {
return nullptr;
}
// Set after checking for null.
depthai->want_cameras = false;
depthai->want_imu = true;
// Last bit is to setup the pipeline.
depthai_setup_stereo_grayscale_pipeline(depthai);