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d/dai: Refactor out pipeline setup to helper function

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This commit is contained in:
Jakob Bornecrantz 2021-10-09 18:57:27 +01:00
parent b8e2cbd9ee
commit e1dd59f749
1 changed files with 88 additions and 80 deletions
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168
src/xrt/drivers/depthai/depthai_driver.cpp
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@ -298,6 +298,91 @@ depthai_destroy(struct depthai_fs *depthai)
return true;
}
static void
depthai_setup_single_pipeline(struct depthai_fs *depthai, enum depthai_camera_type camera_type)
{
switch (camera_type) {
#if 0
case (RGB_OV_9782):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
depthai->fps = 60; // Currently only supports 60.
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
break;
#endif
case (RGB_IMX_378):
depthai->width = 1920;
depthai->height = 1080;
depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_1080_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 118; // Actual max.
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
break;
case (MONO_OV_9282_L):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
case (MONO_OV_9282_R):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
default: assert(false);
}
dai::Pipeline p = {};
auto xlinkOut = p.create<dai::node::XLinkOut>();
xlinkOut->setStreamName("preview");
std::shared_ptr<dai::node::ColorCamera> colorCam = nullptr;
std::shared_ptr<dai::node::MonoCamera> monoCam = nullptr;
if (depthai->format == XRT_FORMAT_R8G8B8) {
colorCam = p.create<dai::node::ColorCamera>();
colorCam->setPreviewSize(depthai->width, depthai->height);
colorCam->setResolution(depthai->color_sensor_resoultion);
colorCam->setImageOrientation(depthai->image_orientation);
colorCam->setInterleaved(depthai->interleaved);
colorCam->setFps(depthai->fps);
colorCam->setColorOrder(depthai->color_order);
// Link plugins CAM -> XLINK
colorCam->preview.link(xlinkOut->input);
}
if (depthai->format == XRT_FORMAT_L8) {
monoCam = p.create<dai::node::MonoCamera>();
monoCam->setBoardSocket(depthai->camera_board_socket);
monoCam->setResolution(depthai->mono_sensor_resoultion);
monoCam->setImageOrientation(depthai->image_orientation);
monoCam->setFps(depthai->fps);
// Link plugins CAM -> XLINK
monoCam->out.link(xlinkOut->input);
}
// Start the pipeline
depthai->device->startPipeline(p);
depthai->queue = depthai->device->getOutputQueue("preview", 1, false).get(); // out of shared pointer
}
/*
*
@ -448,50 +533,6 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
enum depthai_camera_type camera_type = RGB_IMX_378;
switch (camera_type) {
#if 0
case (RGB_OV_9782):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::ROTATE_180_DEG;
depthai->fps = 60; // Currently only supports 60.
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
break;
#endif
case (RGB_IMX_378):
depthai->width = 1920;
depthai->height = 1080;
depthai->format = XRT_FORMAT_R8G8B8;
depthai->color_sensor_resoultion = dai::ColorCameraProperties::SensorResolution::THE_1080_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 118; // Actual max.
depthai->interleaved = true;
depthai->color_order = dai::ColorCameraProperties::ColorOrder::RGB;
break;
case (MONO_OV_9282_L):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::LEFT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
case (MONO_OV_9282_R):
depthai->width = 1280;
depthai->height = 800;
depthai->format = XRT_FORMAT_L8;
depthai->camera_board_socket = dai::CameraBoardSocket::RIGHT;
depthai->mono_sensor_resoultion = dai::MonoCameraProperties::SensorResolution::THE_800_P;
depthai->image_orientation = dai::CameraImageOrientation::AUTO;
depthai->fps = 60; // Currently only supports 60.
break;
default: assert(false);
}
// Some debug printing.
depthai_print_connected_cameras(depthai);
depthai_print_calib(depthai);
@ -499,43 +540,10 @@ depthai_fs_single_rgb(struct xrt_frame_context *xfctx)
// Make sure that the thread helper is initialised.
os_thread_helper_init(&depthai->play_thread);
dai::Pipeline p = {};
auto xlinkOut = p.create<dai::node::XLinkOut>();
xlinkOut->setStreamName("preview");
std::shared_ptr<dai::node::ColorCamera> colorCam = nullptr;
std::shared_ptr<dai::node::MonoCamera> monoCam = nullptr;
if (depthai->format == XRT_FORMAT_R8G8B8) {
colorCam = p.create<dai::node::ColorCamera>();
colorCam->setPreviewSize(depthai->width, depthai->height);
colorCam->setResolution(depthai->color_sensor_resoultion);
colorCam->setImageOrientation(depthai->image_orientation);
colorCam->setInterleaved(depthai->interleaved);
colorCam->setFps(depthai->fps);
colorCam->setColorOrder(depthai->color_order);
// Link plugins CAM -> XLINK
colorCam->preview.link(xlinkOut->input);
}
if (depthai->format == XRT_FORMAT_L8) {
monoCam = p.create<dai::node::MonoCamera>();
monoCam->setBoardSocket(depthai->camera_board_socket);
monoCam->setResolution(depthai->mono_sensor_resoultion);
monoCam->setImageOrientation(depthai->image_orientation);
monoCam->setFps(depthai->fps);
// Link plugins CAM -> XLINK
monoCam->out.link(xlinkOut->input);
}
// Start the pipeline
d->startPipeline(p);
depthai->queue = d->getOutputQueue("preview", 1, false).get(); // out of shared pointer
// Last bit is to setup the pipeline.
depthai_setup_single_pipeline(depthai, camera_type);
// And finally add us to the context when we are done.
xrt_frame_context_add(xfctx, &depthai->node);
DEPTHAI_DEBUG(depthai, "DepthAI: Created");