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72 lines
1.4 KiB
C
72 lines
1.4 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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#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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/*!
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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_stereo_grayscale(struct xrt_frame_context *xfctx);
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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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