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d/dai: Expose function to get stereo calibration

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This commit is contained in:
Jakob Bornecrantz 2021-10-09 22:33:31 +01:00
parent 3fd740e6e9
commit a5fc2fa49e
2 changed files with 19 additions and 0 deletions
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8
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -664,3 +664,11 @@ depthai_fs_stereo_gray(struct xrt_frame_context *xfctx)
return &depthai->base; 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);
}

11
src/xrt/drivers/depthai/depthai_interface.h
View file

@ -17,6 +17,9 @@ extern "C" {
#endif #endif
struct t_stereo_camera_calibration;
/*! /*!
* @defgroup drv_depthai DepthAI frameserver driver * @defgroup drv_depthai DepthAI frameserver driver
* @ingroup drv * @ingroup drv
@ -40,6 +43,14 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx);
struct xrt_fs * struct xrt_fs *
depthai_fs_stereo_gray(struct xrt_frame_context *xfctx); 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 #ifdef __cplusplus
} }