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d/dai: Add OV7251 sensor info

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This commit is contained in:
Jakob Bornecrantz 2022-01-12 17:36:41 +00:00
parent 61024ab9a1
commit bf1edf96eb
1 changed files with 39 additions and 7 deletions
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46
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -100,6 +100,8 @@ enum depthai_camera_type
RGB_OV_9782,
GRAY_OV_9282_L,
GRAY_OV_9282_R,
GRAY_OV_7251_L,
GRAY_OV_7251_R,
};
/*!
@ -392,6 +394,24 @@ depthai_setup_monocular_pipeline(struct depthai_fs *depthai, enum depthai_camera
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
case (GRAY_OV_7251_L):
depthai->width = 640;
depthai->height = 480;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->grayscale_sensor_resolution = dai::MonoCameraProperties::SensorResolution::THE_480_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
case (GRAY_OV_7251_R):
depthai->width = 640;
depthai->height = 480;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
depthai->grayscale_sensor_resolution = dai::MonoCameraProperties::SensorResolution::THE_480_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
default: assert(false);
}
@ -437,13 +457,25 @@ static void
depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
{
// Hardcoded to OV_9282 L/R
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->grayscale_sensor_resolution = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently supports up to 60.
if (true) {
// OV_9282 L/R
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->grayscale_sensor_resolution = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently supports up to 60.
} else {
// OV_7251 L/R
depthai->width = 640;
depthai->height = 480;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->grayscale_sensor_resolution = dai::MonoCameraProperties::SensorResolution::THE_480_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently supports up to 60.
}
dai::Pipeline p = {};