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d/dai: Refactor a bit so we can at compile time support OAK-D

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This commit is contained in:
Jakob Bornecrantz 2021-06-11 15:16:23 +01:00 committed by Moses Turner
parent 764ec63cc6
commit 96248931cc
1 changed files with 29 additions and 7 deletions
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36
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -89,6 +89,12 @@ struct depthai_fs
dai::Device *device; dai::Device *device;
dai::DataOutputQueue *queue; dai::DataOutputQueue *queue;
dai::ColorCameraProperties::SensorResolution sensor_resoultion;
dai::CameraImageOrientation image_orientation;
dai::ColorCameraProperties::ColorOrder color_order;
uint32_t fps;
bool interleaved;
}; };
@ -329,10 +335,26 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
depthai->node.break_apart = depthai_fs_node_break_apart; depthai->node.break_apart = depthai_fs_node_break_apart;
depthai->node.destroy = depthai_fs_node_destroy; depthai->node.destroy = depthai_fs_node_destroy;
depthai->ll = debug_get_log_option_depthai_log(); depthai->ll = debug_get_log_option_depthai_log();
depthai->width = 1280;
depthai->height = 800; // Constant for now
depthai->device = d; depthai->device = d;
if (true) {
depthai->width = 1280;
depthai->height = 800;
depthai->sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
depthai->fps = 60; // 120?
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
} else {
depthai->width = 1920;
depthai->height = 1080;
depthai->sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_1080_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 118;
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
}
// Some debug printing. // Some debug printing.
depthai_print_connected_cameras(depthai); depthai_print_connected_cameras(depthai);
@ -345,11 +367,11 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
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->setPreviewSize(depthai->width, depthai->height);
colorCam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_800_P); colorCam->setResolution(depthai->sensor_resoultion);
colorCam->setInterleaved(true); colorCam->setImageOrientation(depthai->image_orientation);
colorCam->setImageOrientation(dai::CameraImageOrientation::ROTATE_180_DEG); colorCam->setInterleaved(depthai->interleaved);
colorCam->setFps(60); colorCam->setFps(depthai->fps);
colorCam->setColorOrder(dai::ColorCameraProperties::ColorOrder::RGB); colorCam->setColorOrder(depthai->color_order);
// Link plugins CAM -> XLINK // Link plugins CAM -> XLINK
colorCam->preview.link(xlinkOut->input); colorCam->preview.link(xlinkOut->input);