mirror of
https://gitlab.freedesktop.org/monado/monado.git
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6fdd790da0
* Removed depthai_tracked_device - now you create a "SLAM" device, plug any frameserver into it and you're done * Consolidated the grayscale frameservers into just one that gives you SLAM sinks * Allows for different framerates and half-size for ov9282s * Added debug frame sinks * Added the ability to wait at startup for a number of frames for the streams to stabilize before submitting them to SLAM
93 lines
2 KiB
C
93 lines
2 KiB
C
// Copyright 2019-2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Interface header for DepthAI camera.
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* @author Moses Turner <moses@collabora.com>
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup drv_depthai
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*/
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#pragma once
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#include "xrt/xrt_frameserver.h"
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#include "xrt/xrt_device.h"
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#include "xrt/xrt_prober.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#undef DEPTHAI_HAS_MULTICAM_SUPPORT
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struct t_stereo_camera_calibration;
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#define DEPTHAI_VID 0x03e7
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#define DEPTHAI_PID 0x2485
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// FWIW, when the device is actively running, it reboots with the PID 0xf63b.
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struct depthai_slam_startup_settings
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{
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bool want_cameras;
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bool want_imu;
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bool half_size_ov9282;
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int frames_per_second;
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};
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int
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depthai_3dof_device_found(struct xrt_prober *xp,
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struct xrt_prober_device **devices,
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size_t device_count,
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size_t index,
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cJSON *attached_data,
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struct xrt_device **out_xdev);
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/*!
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* @defgroup drv_depthai DepthAI frameserver driver
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* @ingroup drv
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*
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* @brief Frameserver for the DepthAI camera module.
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*/
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/*!
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* Create a DepthAI frameserver using a single RGB camera.
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*
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* @ingroup drv_depthai
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*/
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struct xrt_fs *
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depthai_fs_monocular_rgb(struct xrt_frame_context *xfctx);
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/*!
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* Create a DepthAI frameserver using two gray cameras.
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* Either OAK-D or OAK-D Lite. Custom FFC setups may or may not work.
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*
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* @ingroup drv_depthai
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*/
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struct xrt_fs *
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depthai_fs_slam(struct xrt_frame_context *xfctx, struct depthai_slam_startup_settings *settings);
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#ifdef DEPTHAI_HAS_MULTICAM_SUPPORT
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/*!
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* Create a DepthAI frameserver using two rgb cameras.
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*
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* @ingroup drv_depthai
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*/
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struct xrt_fs *
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depthai_fs_stereo_rgb(struct xrt_frame_context *xfctx);
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#endif
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/*!
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* Get the stereo calibration from a depthAI frameserver.
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*
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* @ingroup drv_depthai
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*/
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bool
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depthai_fs_get_stereo_calibration(struct xrt_fs *xfs, struct t_stereo_camera_calibration **c_ptr);
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#ifdef __cplusplus
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}
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#endif
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