The open source OpenXR runtime
d/dai: Autodetect OAK-D vs OAK-D Lite
Co-authored-by: Jakob Bornecrantz <jakob@collabora.com>
authored by
Moses Turner
Jakob Bornecrantz
and committed by
Moses Turner
a5024060
1abf73df
+46
-5
+45
-5
src/xrt/drivers/depthai/depthai_driver.cpp
+45
-5
src/xrt/drivers/depthai/depthai_driver.cpp
···
136
136
dai::CameraImageOrientation image_orientation;
137
137
uint32_t fps;
138
138
bool interleaved;
139
+
bool oak_d_lite;
139
140
};
140
141
141
142
···
248
249
}
249
250
250
251
static void
251
-
depthai_print_connected_cameras(struct depthai_fs *depthai)
252
+
depthai_guess_camera_type(struct depthai_fs *depthai)
252
253
{
254
+
// We could be a lot more pedantic here, but let's just not.
255
+
// For now, ov7251 == oak-d lite, and ov9282 == oak-d/oak-d S2/oak-d pro
253
256
std::ostringstream oss = {};
254
-
for (const auto &cam : depthai->device->getConnectedCameras()) {
255
-
oss << "'" << static_cast<int>(cam) << "' ";
257
+
std::vector<dai::CameraBoardSocket> sockets = depthai->device->getConnectedCameras();
258
+
std::unordered_map<dai::CameraBoardSocket, std::string> sensornames = depthai->device->getCameraSensorNames();
259
+
260
+
bool ov9282 = false;
261
+
262
+
bool ov7251 = false;
263
+
264
+
265
+
266
+
for (size_t i = 0; i < sockets.size(); i++) {
267
+
dai::CameraBoardSocket sock = sockets[i];
268
+
std::string sensorname = sensornames.at(sock);
269
+
if (sensorname == "OV9282" || sensorname == "OV9*82") {
270
+
ov9282 = true;
271
+
} else if (sensorname == "OV7251") {
272
+
ov7251 = true;
273
+
}
274
+
oss << "'" << static_cast<int>(sock) << "': " << sensorname << ", ";
256
275
}
276
+
277
+
257
278
std::string str = oss.str();
258
279
259
280
DEPTHAI_DEBUG(depthai, "DepthAI: Connected cameras: %s", str.c_str());
281
+
282
+
if (ov9282 && !ov7251) {
283
+
// OAK-D
284
+
DEPTHAI_DEBUG(depthai, "DepthAI: Found an OAK-D!");
285
+
depthai->oak_d_lite = false;
286
+
} else if (ov7251 && !ov9282) {
287
+
// OAK-D Lite
288
+
DEPTHAI_DEBUG(depthai, "DepthAI: Found and OAK-D Lite!");
289
+
depthai->oak_d_lite = true;
290
+
} else {
291
+
DEPTHAI_WARN(depthai,
292
+
"DepthAI: Not sure what kind of device this is - going to pretend this is an OAK-D.");
293
+
depthai->oak_d_lite = false;
294
+
}
260
295
}
261
296
262
297
static void
···
473
508
static void
474
509
depthai_setup_stereo_grayscale_pipeline(struct depthai_fs *depthai)
475
510
{
511
+
512
+
// Get the camera calibration
513
+
struct t_stereo_camera_calibration *calib = NULL;
514
+
depthai_get_gray_cameras_calibration(depthai, &calib);
515
+
476
516
// Hardcoded to OV_9282 L/R
477
-
if (true) {
517
+
if (!depthai->oak_d_lite) {
478
518
// OV_9282 L/R
479
519
depthai->width = 1280;
480
520
depthai->height = 800;
···
737
777
depthai->device = d;
738
778
739
779
// Some debug printing.
740
-
depthai_print_connected_cameras(depthai);
780
+
depthai_guess_camera_type(depthai);
741
781
depthai_print_calib(depthai);
742
782
743
783
// Make sure that the thread helper is initialised.