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d/dai: Autodetect OAK-D vs OAK-D Lite

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Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
This commit is contained in:
Moses Turner 2022-05-04 08:38:54 -05:00 committed by Moses Turner
parent 1abf73dfbe
commit a5024060eb
2 changed files with 46 additions and 5 deletions
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50
src/xrt/drivers/depthai/depthai_driver.cpp
View file

@ -136,6 +136,7 @@ struct depthai_fs
dai::CameraImageOrientation image_orientation;
uint32_t fps;
bool interleaved;
bool oak_d_lite;
};
@ -248,15 +249,49 @@ depthai_get_gray_cameras_calibration(struct depthai_fs *depthai, struct t_stereo
}
static void
depthai_print_connected_cameras(struct depthai_fs *depthai)
depthai_guess_camera_type(struct depthai_fs *depthai)
{
// We could be a lot more pedantic here, but let's just not.
// For now, ov7251 == oak-d lite, and ov9282 == oak-d/oak-d S2/oak-d pro
std::ostringstream oss = {};
for (const auto &cam : depthai->device->getConnectedCameras()) {
oss << "'" << static_cast<int>(cam) << "' ";
std::vector<dai::CameraBoardSocket> sockets = depthai->device->getConnectedCameras();
std::unordered_map<dai::CameraBoardSocket, std::string> sensornames = depthai->device->getCameraSensorNames();
bool ov9282 = false;
bool ov7251 = false;
for (size_t i = 0; i < sockets.size(); i++) {
dai::CameraBoardSocket sock = sockets[i];
std::string sensorname = sensornames.at(sock);
if (sensorname == "OV9282" || sensorname == "OV9*82") {
ov9282 = true;
} else if (sensorname == "OV7251") {
ov7251 = true;
}
oss << "'" << static_cast<int>(sock) << "': " << sensorname << ", ";
}
std::string str = oss.str();
DEPTHAI_DEBUG(depthai, "DepthAI: Connected cameras: %s", str.c_str());
if (ov9282 && !ov7251) {
// OAK-D
DEPTHAI_DEBUG(depthai, "DepthAI: Found an OAK-D!");
depthai->oak_d_lite = false;
} else if (ov7251 && !ov9282) {
// OAK-D Lite
DEPTHAI_DEBUG(depthai, "DepthAI: Found and OAK-D Lite!");
depthai->oak_d_lite = true;
} else {
DEPTHAI_WARN(depthai,
"DepthAI: Not sure what kind of device this is - going to pretend this is an OAK-D.");
depthai->oak_d_lite = false;
}
}
static void
@ -473,8 +508,13 @@ depthai_setup_monocular_pipeline(struct depthai_fs *depthai, enum depthai_camera
static void
depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
{
// Get the camera calibration
struct t_stereo_camera_calibration *calib = NULL;
depthai_get_gray_cameras_calibration(depthai, &calib);
// Hardcoded to OV_9282 L/R
if (true) {
if (!depthai->oak_d_lite) {
// OV_9282 L/R
depthai->width = 1280;
depthai->height = 800;
@ -737,7 +777,7 @@ depthai_create_and_do_minimal_setup(void)
depthai->device = d;
// Some debug printing.
depthai_print_connected_cameras(depthai);
depthai_guess_camera_type(depthai);
depthai_print_calib(depthai);
// Make sure that the thread helper is initialised.

1
src/xrt/drivers/depthai/depthai_interface.h
View file

@ -39,6 +39,7 @@ depthai_fs_monocular_rgb(struct xrt_frame_context *xfctx);
/*!
* Create a DepthAI frameserver using two gray cameras.
* Either OAK-D or OAK-D Lite. Custom FFC setups may or may not work.
*
* @ingroup drv_depthai
*/