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The open source OpenXR runtime
1// Copyright 2019-2021, Collabora, Ltd.
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief Interface header for DepthAI camera.
6 * @author Moshi Turner <moshiturner@protonmail.com>
7 * @author Jakob Bornecrantz <jakob@collabora.com>
8 * @ingroup drv_depthai
9 */
10
11#pragma once
12
13#include "xrt/xrt_frameserver.h"
14#include "xrt/xrt_device.h"
15#include "xrt/xrt_prober.h"
16
17#ifdef __cplusplus
18extern "C" {
19#endif
20
21#undef DEPTHAI_HAS_MULTICAM_SUPPORT
22
23
24struct t_stereo_camera_calibration;
25
26
27#define DEPTHAI_VID 0x03e7
28#define DEPTHAI_PID 0x2485
29// FWIW, when the device is actively running, it reboots with the PID 0xf63b.
30
31struct depthai_slam_startup_settings
32{
33 bool want_cameras;
34 bool want_imu;
35 bool half_size_ov9282;
36 int frames_per_second;
37};
38
39int
40depthai_3dof_device_found(struct xrt_prober *xp,
41 struct xrt_prober_device **devices,
42 size_t device_count,
43 size_t index,
44 cJSON *attached_data,
45 struct xrt_device **out_xdev);
46
47/*!
48 * @defgroup drv_depthai DepthAI frameserver driver
49 * @ingroup drv
50 *
51 * @brief Frameserver for the DepthAI camera module.
52 */
53
54/*!
55 * Create a DepthAI frameserver using a single RGB camera.
56 *
57 * @ingroup drv_depthai
58 */
59struct xrt_fs *
60depthai_fs_monocular_rgb(struct xrt_frame_context *xfctx);
61
62/*!
63 * Create a DepthAI frameserver using two gray cameras.
64 * Either OAK-D or OAK-D Lite. Custom FFC setups may or may not work.
65 *
66 * @ingroup drv_depthai
67 */
68struct xrt_fs *
69depthai_fs_slam(struct xrt_frame_context *xfctx, struct depthai_slam_startup_settings *settings);
70
71#ifdef DEPTHAI_HAS_MULTICAM_SUPPORT
72/*!
73 * Create a DepthAI frameserver using two rgb cameras.
74 *
75 * @ingroup drv_depthai
76 */
77struct xrt_fs *
78depthai_fs_stereo_rgb(struct xrt_frame_context *xfctx);
79#endif
80
81/*!
82 * Get the stereo calibration from a depthAI frameserver.
83 *
84 * @ingroup drv_depthai
85 */
86bool
87depthai_fs_get_stereo_calibration(struct xrt_fs *xfs, struct t_stereo_camera_calibration **c_ptr);
88
89
90#ifdef __cplusplus
91}
92#endif