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d/dai: Enable IR floodlight code and allow the floodlight to be controlled with an env var

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IR floodlight support has been merged into DepthAI core
This commit is contained in:
Moses Turner 2022-09-13 19:56:23 -05:00
parent 0f40a4be8f
commit bea3569016
1 changed files with 32 additions and 13 deletions
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45
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -36,9 +36,6 @@
#include <memory> #include <memory>
#include <sstream> #include <sstream>
// Disable it for now, unsure if everything has been upstreamed.
#undef DEPTHAI_ILLUMINATED_IR
/* /*
* *
* Printing functions. * Printing functions.
@ -52,6 +49,8 @@
#define DEPTHAI_ERROR(d, ...) U_LOG_IFL_E(d->log_level, __VA_ARGS__) #define DEPTHAI_ERROR(d, ...) U_LOG_IFL_E(d->log_level, __VA_ARGS__)
DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_INFO) DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_INFO)
DEBUG_GET_ONCE_BOOL_OPTION(depthai_want_floodlight, "DEPTHAI_WANT_FLOODLIGHT", true)
/* /*
@ -133,9 +132,7 @@ struct depthai_fs
dai::DataOutputQueue *image_queue; dai::DataOutputQueue *image_queue;
dai::DataOutputQueue *imu_queue; dai::DataOutputQueue *imu_queue;
#ifdef DEPTHAI_ILLUMINATED_IR
dai::DataInputQueue *control_queue; dai::DataInputQueue *control_queue;
#endif
dai::ColorCameraProperties::SensorResolution color_sensor_resolution; dai::ColorCameraProperties::SensorResolution color_sensor_resolution;
dai::ColorCameraProperties::ColorOrder color_order; dai::ColorCameraProperties::ColorOrder color_order;
@ -150,6 +147,9 @@ struct depthai_fs
bool interleaved; bool interleaved;
bool oak_d_lite; bool oak_d_lite;
bool has_floodlight;
bool want_floodlight;
bool want_cameras; bool want_cameras;
bool want_imu; bool want_imu;
}; };
@ -259,6 +259,24 @@ depthai_get_gray_cameras_calibration(struct depthai_fs *depthai, struct t_stereo
return true; return true;
} }
//!@todo this function will look slightly different for an OAK-D Pro with dot projectors - mine only has floodlights
void
depthai_guess_ir_drivers(struct depthai_fs *depthai)
{
std::vector<std::tuple<std::string, int, int>> list_of_drivers = depthai->device->getIrDrivers();
depthai->has_floodlight = false;
for (std::tuple<std::string, int, int> elem : list_of_drivers) {
if (std::get<0>(elem) == "LM3644") {
DEPTHAI_DEBUG(depthai, "DepthAI: Found an IR floodlight");
depthai->has_floodlight = true;
}
}
if (!depthai->has_floodlight) {
DEPTHAI_DEBUG(depthai, "DepthAI: Didn't find any IR illuminators");
}
}
static void static void
depthai_guess_camera_type(struct depthai_fs *depthai) depthai_guess_camera_type(struct depthai_fs *depthai)
{ {
@ -644,10 +662,8 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
const char *name_images = "image_frames"; const char *name_images = "image_frames";
const char *name_imu = "imu_samples"; const char *name_imu = "imu_samples";
#ifdef DEPTHAI_ILLUMINATED_IR
auto controlIn = p.create<dai::node::XLinkIn>(); auto controlIn = p.create<dai::node::XLinkIn>();
controlIn->setStreamName("control"); controlIn->setStreamName("control");
#endif
if (depthai->want_cameras) { if (depthai->want_cameras) {
@ -670,10 +686,8 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
// Link plugins CAM -> XLINK // Link plugins CAM -> XLINK
grayCam->out.link(xlinkOut->input); grayCam->out.link(xlinkOut->input);
#ifdef DEPTHAI_ILLUMINATED_IR
// Link control to camera // Link control to camera
controlIn->out.link(grayCam->inputControl); controlIn->out.link(grayCam->inputControl);
#endif
} }
} }
@ -698,16 +712,19 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
depthai->imu_queue = depthai->device->getOutputQueue(name_imu, 4, false).get(); // out of shared pointer depthai->imu_queue = depthai->device->getOutputQueue(name_imu, 4, false).get(); // out of shared pointer
} }
#ifdef DEPTHAI_ILLUMINATED_IR
depthai->control_queue = depthai->device->getInputQueue("control").get(); depthai->control_queue = depthai->device->getInputQueue("control").get();
if (depthai->has_floodlight && depthai->want_floodlight) {
depthai->device->setIrFloodLightBrightness(1500);
}
depthai->device->setIrFloodLightBrightness(15000); //!@todo This code will turn the exposure time down, but you may not want it. Or we may want to rework Monado's
//! AEG code to control the IR floodlight brightness in concert with the exposure itme. For now, disable.
#if 0
dai::CameraControl ctrl; dai::CameraControl ctrl;
ctrl.setManualExposure(500, 700); ctrl.setManualExposure(500, 700);
depthai->control_queue->send(ctrl); depthai->control_queue->send(ctrl);
depthai->device->setIrFloodLightBrightness(15000);
#endif #endif
} }
@ -927,10 +944,12 @@ depthai_create_and_do_minimal_setup(void)
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->log_level = debug_get_log_option_depthai_log(); depthai->log_level = debug_get_log_option_depthai_log();
depthai->want_floodlight = debug_get_bool_option_depthai_want_floodlight();
depthai->device = d; depthai->device = d;
// Some debug printing. // Some debug printing.
depthai_guess_camera_type(depthai); depthai_guess_camera_type(depthai);
depthai_guess_ir_drivers(depthai);
depthai_print_calib(depthai); depthai_print_calib(depthai);
// Make sure that the thread helper is initialised. // Make sure that the thread helper is initialised.