Fixed deprecated CameraBoardSockets (#476)

Co-authored-by: Oogway <[email protected]>
DukeRobotics · Oct 26, 2023 · 51d92df · 51d92df
1 parent 11bd200
commit 51d92df
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/onboard/catkin_ws/src/cv/scripts/depthai_publish_save_streams.py b/onboard/catkin_ws/src/cv/scripts/depthai_publish_save_streams.py
@@ -141,7 +141,7 @@ def build_pipeline(self):
         if self.publish_rgb_video or self.publish_rgb_preview or self.save_rgb_video or self.save_rgb_preview:
             camRgb = self.pipeline.create(dai.node.ColorCamera)
             camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
-            camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
+            camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
 
             if self.publish_rgb_video or self.save_rgb_video:
                 camRgb.setVideoSize(self.rgb_video_resolution)
@@ -174,7 +174,7 @@ def build_pipeline(self):
         if self.publish_left or self.publish_disparity or self.publish_depth or self.save_left or self.save_disparity:
             camLeft = self.pipeline.create(dai.node.MonoCamera)
             camLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)  # Resolution: 640 x 400
-            camLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
+            camLeft.setBoardSocket(dai.CameraBoardSocket.CAM_B)
             camLeft.setFps(self.framerate)
 
         if self.save_left:
@@ -187,7 +187,7 @@ def build_pipeline(self):
         if self.publish_right or self.publish_disparity or self.publish_depth or self.save_right or self.save_disparity:
             camRight = self.pipeline.create(dai.node.MonoCamera)
             camRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)  # Resolution: 640 x 400
-            camRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+            camRight.setBoardSocket(dai.CameraBoardSocket.CAM_C)
             camRight.setFps(self.framerate)
 
         if self.save_right:

diff --git a/onboard/catkin_ws/src/cv/scripts/depthai_spatial_detection.py b/onboard/catkin_ws/src/cv/scripts/depthai_spatial_detection.py
@@ -127,13 +127,13 @@ def build_pipeline(self, nn_blob_path, sync_nn):
         cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
 
         mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
-        mono_left.setBoardSocket(dai.CameraBoardSocket.LEFT)
+        mono_left.setBoardSocket(dai.CameraBoardSocket.CAM_B)
         mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
-        mono_right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+        mono_right.setBoardSocket(dai.CameraBoardSocket.CAM_C)
 
         # setting node configs
         stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
-        stereo.setDepthAlign(dai.CameraBoardSocket.RGB)
+        stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
 
         spatial_detection_network.setBlobPath(nn_blob_path)
         spatial_detection_network.setConfidenceThreshold(model['confidence_threshold'])