Merge pull request #37 from luxonis/gen2_camera_orientation

Color/MonoCamera: add API to configure image orientation
luxonis · Jan 11, 2021 · e1f3b68 · e1f3b68
2 parents a269e39 + 15cbd6d
commit e1f3b68
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Showing 6 changed files with 37 additions and 2 deletions.
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")  
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "70d5310805cee5ac3ff90d1fd2f4b617122a225b")            
+set(DEPTHAI_DEVICE_SIDE_COMMIT "d55d55a15e273298bb94006c6b7bc1a4b31a10a2")            
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/include/depthai/pipeline/node/ColorCamera.hpp b/include/depthai/pipeline/node/ColorCamera.hpp
@@ -38,6 +38,12 @@ class ColorCamera : public Node {
     // Get which color camera to use
     [[deprecated("Use 'setBoardSocket()' instead")]] int64_t getCamId() const;
 
+    // Set camera image orientation
+    void setImageOrientation(CameraImageOrientation imageOrientation);
+
+    // Get camera image orientation
+    CameraImageOrientation getImageOrientation() const;
+
     // setColorOrder - RGB or BGR
     void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
 

diff --git a/include/depthai/pipeline/node/MonoCamera.hpp b/include/depthai/pipeline/node/MonoCamera.hpp
@@ -34,6 +34,12 @@ class MonoCamera : public Node {
     // Get which mono camera to use
     [[deprecated("Use 'getBoardSocket()' instead.")]] int64_t getCamId() const;
 
+    // Set camera image orientation
+    void setImageOrientation(CameraImageOrientation imageOrientation);
+
+    // Get camera image orientation
+    CameraImageOrientation getImageOrientation() const;
+
     void setResolution(MonoCameraProperties::SensorResolution resolution);
     MonoCameraProperties::SensorResolution getResolution() const;
 

diff --git a/shared/depthai-shared b/shared/depthai-shared
diff --git a/src/pipeline/node/ColorCamera.cpp b/src/pipeline/node/ColorCamera.cpp
@@ -7,6 +7,7 @@ namespace node {
 
 ColorCamera::ColorCamera(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : Node(par, nodeId) {
     properties.boardSocket = CameraBoardSocket::AUTO;
+    properties.imageOrientation = CameraImageOrientation::AUTO;
     properties.colorOrder = ColorCameraProperties::ColorOrder::BGR;
     properties.interleaved = true;
     properties.previewHeight = 300;
@@ -72,6 +73,17 @@ int64_t ColorCamera::getCamId() const {
     return (int64_t)properties.boardSocket;
 }
 
+// Set camera image orientation
+void ColorCamera::setImageOrientation(CameraImageOrientation imageOrientation) {
+    properties.imageOrientation = imageOrientation;
+}
+
+// Get camera image orientation
+CameraImageOrientation ColorCamera::getImageOrientation() const {
+    // TODO: in case of AUTO, see if possible to return actual value determined by device?
+    return properties.imageOrientation;
+}
+
 // setColorOrder - RGB or BGR
 void ColorCamera::setColorOrder(ColorCameraProperties::ColorOrder colorOrder) {
     properties.colorOrder = colorOrder;

diff --git a/src/pipeline/node/MonoCamera.cpp b/src/pipeline/node/MonoCamera.cpp
@@ -67,6 +67,17 @@ int64_t MonoCamera::getCamId() const {
     return (int64_t)properties.boardSocket;
 }
 
+// Set camera image orientation
+void MonoCamera::setImageOrientation(CameraImageOrientation imageOrientation) {
+    properties.imageOrientation = imageOrientation;
+}
+
+// Get camera image orientation
+CameraImageOrientation MonoCamera::getImageOrientation() const {
+    // TODO: in case of AUTO, see if possible to return actual value determined by device?
+    return properties.imageOrientation;
+}
+
 void MonoCamera::setResolution(MonoCameraProperties::SensorResolution resolution) {
     properties.resolution = resolution;
 }