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st/gui: Make it possible to use depthAI as a stereo and single source

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This commit is contained in:
Jakob Bornecrantz 2021-10-09 22:25:47 +01:00 committed by Moses Turner
parent 21f6842e49
commit 0d07971ebb
2 changed files with 61 additions and 34 deletions
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9
src/xrt/state_trackers/gui/gui_scene_main_menu.c
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@ -51,9 +51,14 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
gui_scene_debug(p);
}
if (igButton("Record (DepthAI)", button_dims)) {
if (igButton("Record (DepthAI Single)", button_dims)) {
gui_scene_delete_me(p, scene);
gui_scene_record(p, "depthai");
gui_scene_record(p, "depthai-single");
}
if (igButton("Record (DepthAI Stereo)", button_dims)) {
gui_scene_delete_me(p, scene);
gui_scene_record(p, "depthai-stereo");
}
if (igButton("Record (Index)", button_dims)) {

86
src/xrt/state_trackers/gui/gui_scene_record.c
View file

@ -50,8 +50,11 @@ struct camera_window
struct
{
// Use DepthAI camera.
bool depthai;
// Use DepthAI camera, single.
bool depthai_single;
// Use DepthAI camera, stereo.
bool depthai_stereo;
// Use leap_motion.
bool leap_motion;
@ -142,13 +145,21 @@ window_create(struct gui_program *p, const char *camera)
cw->use.index = camera == NULL ? false : strcmp(camera, "index") == 0;
cw->use.leap_motion = camera == NULL ? false : strcmp(camera, "leap_motion") == 0;
cw->use.depthai = camera == NULL ? false : strcmp(camera, "depthai") == 0;
cw->use.depthai_single = camera == NULL ? false : strcmp(camera, "depthai") == 0;
cw->use.depthai_single = camera == NULL ? false : strcmp(camera, "depthai_single") == 0;
cw->use.depthai_single = camera == NULL ? false : strcmp(camera, "depthai-single") == 0;
cw->use.depthai_stereo = camera == NULL ? false : strcmp(camera, "depthai_stereo") == 0;
cw->use.depthai_stereo = camera == NULL ? false : strcmp(camera, "depthai-stereo") == 0;
cw->use.elp = camera == NULL ? false : strcmp(camera, "elp") == 0;
if (!cw->use.index && !cw->use.leap_motion && !cw->use.depthai && !cw->use.elp) {
if (!cw->use.index && //
!cw->use.leap_motion && //
!cw->use.depthai_single && //
!cw->use.depthai_stereo && //
!cw->use.elp) {
U_LOG_W(
"Can't recongnize camera name '%s', options are 'elp', depthai', index' & 'leap_motion'."
"\n\tFalling back to 'index'.",
"Can't recongnize camera name '%s', options are 'elp', 'depthai[-single|-stereo]', index' & "
"'leap_motion'.\n\tFalling back to 'index'.",
camera);
cw->use.index = true;
}
@ -165,45 +176,52 @@ window_create(struct gui_program *p, const char *camera)
#ifdef XRT_BUILD_DRIVER_DEPTHAI
static void
create_depthai(struct camera_window *cw)
create_depthai_single(struct camera_window *cw)
{
// Should we be using a DepthAI camera?
if (!cw->use.depthai) {
if (!cw->use.depthai_single) {
return;
}
cw->camera.xfs = depthai_fs_single_rgb(&cw->camera.xfctx);
if (cw->camera.xfs == NULL) {
U_LOG_W("Could not create depthai camera!");
return;
}
// Just after the camera create a quirk stream.
struct u_sink_quirk_params qp;
U_ZERO(&qp);
qp.stereo_sbs = false;
qp.ps4_cam = false;
qp.leap_motion = false;
// No special pipeline needed.
struct xrt_frame_sink *tmp = &cw->base.sink;
u_sink_quirk_create(&cw->camera.xfctx, tmp, &qp, &tmp);
struct xrt_fs_mode *modes = NULL;
uint32_t mode_count = 0;
xrt_fs_enumerate_modes(cw->camera.xfs, &modes, &mode_count);
assert(mode_count > 0);
// Just use the first one.
// Hardcoded.
uint32_t mode_index = 0;
window_set_camera_source( //
cw, //
modes[mode_index].width, //
modes[mode_index].height, //
modes[mode_index].format); //
free(modes);
modes = NULL;
// Now that we have setup a node graph, start it.
xrt_fs_stream_start(cw->camera.xfs, tmp, XRT_FS_CAPTURE_TYPE_CALIBRATION, mode_index);
}
static void
create_depthai_stereo(struct camera_window *cw)
{
// Should we be using a DepthAI camera?
if (!cw->use.depthai_stereo) {
return;
}
cw->camera.xfs = depthai_fs_stereo_gray(&cw->camera.xfctx);
if (cw->camera.xfs == NULL) {
U_LOG_W("Could not create depthai camera!");
return;
}
// First grab the window sink.
struct xrt_frame_sink *tmp = &cw->base.sink;
struct xrt_slam_sinks sinks;
u_sink_combiner_create(&cw->camera.xfctx, tmp, &sinks.left, &sinks.right);
// Now that we have setup a node graph, start it.
xrt_fs_slam_stream_start(cw->camera.xfs, &sinks);
}
#endif /* XRT_BUILD_DRIVER_DEPTHAI */
@ -397,7 +415,11 @@ gui_scene_record(struct gui_program *p, const char *camera)
#ifdef XRT_BUILD_DRIVER_DEPTHAI
if (!window_has_source(rs->window)) {
create_depthai(rs->window);
create_depthai_single(rs->window);
}
if (!window_has_source(rs->window)) {
create_depthai_stereo(rs->window);
}
#endif