From a5fc2fa49e983382ddc5d7c8a0d291a1857671a8 Mon Sep 17 00:00:00 2001
From: Jakob Bornecrantz <jakob@collabora.com>
Date: Sat, 9 Oct 2021 22:33:31 +0100
Subject: [PATCH] d/dai: Expose function to get stereo calibration

---
 src/xrt/drivers/depthai/depthai_driver.cpp  |  8 ++++++++
 src/xrt/drivers/depthai/depthai_interface.h | 11 +++++++++++
 2 files changed, 19 insertions(+)

diff --git a/src/xrt/drivers/depthai/depthai_driver.cpp b/src/xrt/drivers/depthai/depthai_driver.cpp
index 0a2ed25fb..f201b0df5 100644
--- a/src/xrt/drivers/depthai/depthai_driver.cpp
+++ b/src/xrt/drivers/depthai/depthai_driver.cpp
@@ -664,3 +664,11 @@ depthai_fs_stereo_gray(struct xrt_frame_context *xfctx)
 
 	return &depthai->base;
 }
+
+extern "C" void
+depthai_fs_get_stereo_calibration(struct xrt_fs *xfs, struct t_stereo_camera_calibration **c_ptr)
+{
+	struct depthai_fs *depthai = depthai_fs(xfs);
+
+	depthai_get_gray_cameras_calibration(depthai, c_ptr);
+}
diff --git a/src/xrt/drivers/depthai/depthai_interface.h b/src/xrt/drivers/depthai/depthai_interface.h
index 511300e41..8cb5fc905 100644
--- a/src/xrt/drivers/depthai/depthai_interface.h
+++ b/src/xrt/drivers/depthai/depthai_interface.h
@@ -17,6 +17,9 @@ extern "C" {
 #endif
 
 
+struct t_stereo_camera_calibration;
+
+
 /*!
  * @defgroup drv_depthai DepthAI frameserver driver
  * @ingroup drv
@@ -40,6 +43,14 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx);
 struct xrt_fs *
 depthai_fs_stereo_gray(struct xrt_frame_context *xfctx);
 
+/*!
+ * Get the stereo calibration from a depthAI frameserver.
+ *
+ * @ingroup drv_depthai
+ */
+void
+depthai_fs_get_stereo_calibration(struct xrt_fs *xfs, struct t_stereo_camera_calibration **c_ptr);
+
 
 #ifdef __cplusplus
 }