The open source OpenXR runtime
d/dai: Control floodlight brightness with an env var
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
authored by
Moses Turner
Jakob Bornecrantz
and committed by
Jakob Bornecrantz
1ef49b92
4643d4f0
+23
-9
+23
-9
src/xrt/drivers/depthai/depthai_driver.cpp
+23
-9
src/xrt/drivers/depthai/depthai_driver.cpp
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#define DEPTHAI_ERROR(d, ...) U_LOG_IFL_E(d->log_level, __VA_ARGS__)
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DEBUG_GET_ONCE_LOG_OPTION(depthai_log, "DEPTHAI_LOG", U_LOGGING_INFO)
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DEBUG_GET_ONCE_BOOL_OPTION(depthai_want_floodlight, "DEPTHAI_WANT_FLOODLIGHT", true)
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DEBUG_GET_ONCE_NUM_OPTION(depthai_floodlight_brightness, "DEPTHAI_FLOODLIGHT_BRIGHTNESS", 1000)
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DEBUG_GET_ONCE_NUM_OPTION(depthai_startup_wait_frames, "DEPTHAI_STARTUP_WAIT_FRAMES", 0)
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···
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bool interleaved;
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bool oak_d_lite;
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bool has_floodlight;
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bool want_floodlight;
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struct
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{
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float mA;
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bool has;
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} floodlights;
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bool want_cameras;
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bool want_imu;
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depthai_guess_ir_drivers(struct depthai_fs *depthai)
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{
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std::vector<std::tuple<std::string, int, int>> list_of_drivers = depthai->device->getIrDrivers();
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depthai->has_floodlight = false;
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depthai->floodlights.has = false;
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for (std::tuple<std::string, int, int> elem : list_of_drivers) {
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if (std::get<0>(elem) == "LM3644") {
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DEPTHAI_DEBUG(depthai, "DepthAI: Found an IR floodlight");
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depthai->has_floodlight = true;
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depthai->floodlights.has = true;
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}
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}
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if (!depthai->has_floodlight) {
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if (!depthai->floodlights.has) {
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DEPTHAI_DEBUG(depthai, "DepthAI: Didn't find any IR illuminators");
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}
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}
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depthai->control_queue = depthai->device->getInputQueue("control").get();
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if (depthai->has_floodlight && depthai->want_floodlight) {
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depthai->device->setIrFloodLightBrightness(1500);
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if (depthai->floodlights.has) {
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float mA = depthai->floodlights.mA;
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if (mA > 1500.0f) {
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DEPTHAI_ERROR(depthai, "Can not set brightness to more then 1500mA, clamping!");
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mA = 1500.0f;
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}
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if (mA > 0.0f) {
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depthai->device->setIrFloodLightBrightness(mA);
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}
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}
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//!@todo This code will turn the exposure time down, but you may not want it. Or we may want to rework Monado's
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depthai->node.break_apart = depthai_fs_node_break_apart;
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depthai->node.destroy = depthai_fs_node_destroy;
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depthai->log_level = debug_get_log_option_depthai_log();
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depthai->want_floodlight = debug_get_bool_option_depthai_want_floodlight();
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depthai->floodlights.mA = debug_get_num_option_depthai_floodlight_brightness();
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depthai->device = d;
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u_var_add_root(depthai, "DepthAI Source", 0);