mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-16 03:45:24 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/dai: Add code to control IR floodlight and exposure behind ifdef

Browse source
This commit is contained in:
Moses Turner 2022-07-21 00:23:08 +01:00
parent 4d0e46a5ac
commit f6ef1d8f28
1 changed files with 29 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

29
src/xrt/drivers/depthai/depthai_driver.cpp
View file

@ -36,6 +36,8 @@
#include <memory>
#include <sstream>
// Disable it for now, unsure if everything has been upstreamed.
#undef DEPTHAI_ILLUMINATED_IR
/*
*
@ -131,6 +133,10 @@ struct depthai_fs
dai::DataOutputQueue *image_queue;
dai::DataOutputQueue *imu_queue;
#ifdef DEPTHAI_ILLUMINATED_IR
dai::DataInputQueue *control_queue;
#endif
dai::ColorCameraProperties::SensorResolution color_sensor_resolution;
dai::ColorCameraProperties::ColorOrder color_order;
@ -138,6 +144,8 @@ struct depthai_fs
dai::CameraBoardSocket camera_board_socket;
dai::CameraImageOrientation image_orientation;
uint32_t fps;
bool interleaved;
bool oak_d_lite;
@ -636,6 +644,11 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
const char *name_images = "image_frames";
const char *name_imu = "imu_samples";
#ifdef DEPTHAI_ILLUMINATED_IR
auto controlIn = p.create<dai::node::XLinkIn>();
controlIn->setStreamName("control");
#endif
if (depthai->want_cameras) {
std::shared_ptr<dai::node::XLinkOut> xlinkOut = p.create<dai::node::XLinkOut>();
@ -657,6 +670,10 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
// Link plugins CAM -> XLINK
grayCam->out.link(xlinkOut->input);
#ifdef DEPTHAI_ILLUMINATED_IR
// Link control to camera
controlIn->out.link(grayCam->inputControl);
#endif
}
}
@ -680,6 +697,18 @@ depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
if (depthai->want_imu) {
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->device->setIrFloodLightBrightness(15000);
dai::CameraControl ctrl;
ctrl.setManualExposure(500, 700);
depthai->control_queue->send(ctrl);
depthai->device->setIrFloodLightBrightness(15000);
#endif
}
#ifdef DEPTHAI_HAS_MULTICAM_SUPPORT