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fix protocol detection for undiscoverable devices #1159

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merged 1 commit into from
Nov 16, 2023
Merged

fix protocol detection for undiscoverable devices #1159

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27 changes: 7 additions & 20 deletions corelib/src/camera/CameraDepthAI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,9 +200,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
#ifdef RTABMAP_DEPTHAI

std::vector<dai::DeviceInfo> devices = dai::Device::getAllAvailableDevices();
if(devices.empty())
if(devices.empty() && mxidOrName_.empty())
{
UERROR("No DepthAI device found");
UERROR("No DepthAI device found or specified");
return false;
}

Expand All @@ -215,24 +215,11 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
bool deviceFound = false;
dai::DeviceInfo deviceToUse(mxidOrName_);
if(mxidOrName_.empty())
{
std::tie(deviceFound, deviceToUse) = dai::Device::getFirstAvailableDevice();
}
else if(!deviceToUse.mxid.empty())
{
std::tie(deviceFound, deviceToUse) = dai::Device::getDeviceByMxId(deviceToUse.mxid);
}
else
{
for(auto& device : devices)
{
if(deviceToUse.name == device.name)
{
deviceFound = true;
deviceToUse = device;
}
}
}
deviceFound = true;

if(!deviceFound)
{
Expand Down Expand Up @@ -335,7 +322,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
monoRight->out.link(stereo->right);

// Using VideoEncoder on PoE devices, Subpixel is not supported
if(deviceToUse.protocol == X_LINK_TCP_IP)
if(deviceToUse.protocol == X_LINK_TCP_IP || mxidOrName_.find(".") != std::string::npos)
{
auto leftEnc = p.create<dai::node::VideoEncoder>();
auto depthOrRightEnc = p.create<dai::node::VideoEncoder>();
Expand Down Expand Up @@ -509,8 +496,8 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
else
{
UScopeMutex lock(imuMutex_);
accBuffer_.emplace_hint(accBuffer_.end(), std::make_pair(accStamp, cv::Vec3f(acceleroValues.x, acceleroValues.y, acceleroValues.z)));
gyroBuffer_.emplace_hint(gyroBuffer_.end(), std::make_pair(gyroStamp, cv::Vec3f(gyroValues.x, gyroValues.y, gyroValues.z)));
accBuffer_.emplace_hint(accBuffer_.end(), accStamp, cv::Vec3f(acceleroValues.x, acceleroValues.y, acceleroValues.z));
gyroBuffer_.emplace_hint(gyroBuffer_.end(), gyroStamp, cv::Vec3f(gyroValues.x, gyroValues.y, gyroValues.z));
}
}
});
Expand Down Expand Up @@ -568,7 +555,7 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
rectifRightOrDepth = rightOrDepthQueue_->get<dai::ImgFrame>();

double stamp = std::chrono::duration<double>(rectifL->getTimestampDevice(dai::CameraExposureOffset::MIDDLE).time_since_epoch()).count();
if(device_->getDeviceInfo().protocol == X_LINK_TCP_IP)
if(device_->getDeviceInfo().protocol == X_LINK_TCP_IP || mxidOrName_.find(".") != std::string::npos)
{
left = cv::imdecode(rectifL->getData(), cv::IMREAD_GRAYSCALE);
depthOrRight = cv::imdecode(rectifRightOrDepth->getData(), cv::IMREAD_GRAYSCALE);
Expand Down
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