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t/common: Fix North Star builder

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Closes #296
This commit is contained in:
Jakob Bornecrantz 2023-11-07 22:17:08 +00:00
parent 8792465a16
commit 14d94d8d9a
1 changed files with 20 additions and 13 deletions
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33
src/xrt/targets/common/target_builder_north_star.c
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@ -273,7 +273,7 @@ ns_compute_depthai_ht_offset(struct xrt_pose *P_imu_to_left_camera_basalt, struc
#ifdef XRT_BUILD_DRIVER_DEPTHAI #ifdef XRT_BUILD_DRIVER_DEPTHAI
static xrt_result_t static xrt_result_t
ns_setup_depthai_device(struct ns_builder *nsb, ns_setup_depthai_device(struct ns_builder *nsb,
struct u_system_devices *usysd, struct xrt_frame_context *xfctx,
struct xrt_device **out_hand_device, struct xrt_device **out_hand_device,
struct xrt_device **out_head_device) struct xrt_device **out_head_device)
{ {
@ -285,7 +285,7 @@ ns_setup_depthai_device(struct ns_builder *nsb,
settings.want_cameras = true; settings.want_cameras = true;
settings.want_imu = true; settings.want_imu = true;
struct xrt_fs *the_fs = depthai_fs_slam(&usysd->xfctx, &settings); struct xrt_fs *the_fs = depthai_fs_slam(xfctx, &settings);
if (the_fs == NULL) { if (the_fs == NULL) {
return XRT_ERROR_DEVICE_CREATION_FAILED; return XRT_ERROR_DEVICE_CREATION_FAILED;
@ -311,11 +311,12 @@ ns_setup_depthai_device(struct ns_builder *nsb,
extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE; extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE; extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
int create_status = ht_device_create(&usysd->xfctx, // int create_status = ht_device_create( //
calib, // xfctx, //
extra_camera_info, // calib, //
&hand_sinks, // extra_camera_info, //
out_hand_device); &hand_sinks, //
out_hand_device); //
t_stereo_camera_calibration_reference(&calib, NULL); t_stereo_camera_calibration_reference(&calib, NULL);
if (create_status != 0) { if (create_status != 0) {
return XRT_ERROR_DEVICE_CREATION_FAILED; return XRT_ERROR_DEVICE_CREATION_FAILED;
@ -323,7 +324,7 @@ ns_setup_depthai_device(struct ns_builder *nsb,
#endif #endif
struct xrt_slam_sinks *slam_sinks = NULL; struct xrt_slam_sinks *slam_sinks = NULL;
xret = twrap_slam_create_device(&usysd->xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device); xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
if (xret != XRT_SUCCESS) { if (xret != XRT_SUCCESS) {
U_LOG_E("twrap_slam_create_device: %u", xret); U_LOG_E("twrap_slam_create_device: %u", xret);
return xret; return xret;
@ -338,8 +339,8 @@ ns_setup_depthai_device(struct ns_builder *nsb,
struct xrt_frame_sink *entry_right_sink = NULL; struct xrt_frame_sink *entry_right_sink = NULL;
#ifdef XRT_BUILD_DRIVER_HANDTRACKING #ifdef XRT_BUILD_DRIVER_HANDTRACKING
u_sink_split_create(&usysd->xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink); u_sink_split_create(xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink);
u_sink_split_create(&usysd->xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink); u_sink_split_create(xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink);
#else #else
entry_left_sink = slam_sinks->cams[0]; entry_left_sink = slam_sinks->cams[0];
entry_right_sink = slam_sinks->cams[1]; entry_right_sink = slam_sinks->cams[1];
@ -355,8 +356,12 @@ ns_setup_depthai_device(struct ns_builder *nsb,
struct xrt_slam_sinks dummy_slam_sinks = {0}; struct xrt_slam_sinks dummy_slam_sinks = {0};
dummy_slam_sinks.imu = entry_sinks.imu; dummy_slam_sinks.imu = entry_sinks.imu;
u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.cams[0], entry_sinks.cams[1], &dummy_slam_sinks.cams[0], u_sink_force_genlock_create( //
&dummy_slam_sinks.cams[1]); xfctx, //
entry_sinks.cams[0], //
entry_sinks.cams[1], //
&dummy_slam_sinks.cams[0], //
&dummy_slam_sinks.cams[1]); //
xrt_fs_slam_stream_start(the_fs, &dummy_slam_sinks); xrt_fs_slam_stream_start(the_fs, &dummy_slam_sinks);
@ -445,6 +450,7 @@ ns_open_system(struct xrt_builder *xb,
// Use the static system devices helper, no dynamic roles. // Use the static system devices helper, no dynamic roles.
struct u_system_devices_static *usysds = u_system_devices_static_allocate(); struct u_system_devices_static *usysds = u_system_devices_static_allocate();
struct xrt_system_devices *xsysd = &usysds->base.base; struct xrt_system_devices *xsysd = &usysds->base.base;
struct xrt_frame_context *xfctx = &usysds->base.xfctx;
if (out_xsysd == NULL || *out_xsysd != NULL) { if (out_xsysd == NULL || *out_xsysd != NULL) {
NS_ERROR("Invalid output system pointer"); NS_ERROR("Invalid output system pointer");
@ -501,11 +507,12 @@ ns_open_system(struct xrt_builder *xb,
if (nsb->depthai_device.active) { if (nsb->depthai_device.active) {
#ifdef XRT_BUILD_DRIVER_DEPTHAI #ifdef XRT_BUILD_DRIVER_DEPTHAI
NS_INFO("Using DepthAI device!"); NS_INFO("Using DepthAI device!");
ns_setup_depthai_device(nsb, usysd, &hand_device, &slam_device); ns_setup_depthai_device(nsb, xfctx, &hand_device, &slam_device);
head_offset = nsb->depthai_device.P_middleofeyes_to_imu_oxr; head_offset = nsb->depthai_device.P_middleofeyes_to_imu_oxr;
ns_compute_depthai_ht_offset(&nsb->depthai_device.P_imu_to_left_camera_basalt, &hand_offset); ns_compute_depthai_ht_offset(&nsb->depthai_device.P_imu_to_left_camera_basalt, &hand_offset);
// got_head_tracker = true; // got_head_tracker = true;
#else #else
(void)xfctx;
NS_ERROR("DepthAI head+hand tracker specified in config but DepthAI support was not compiled in!"); NS_ERROR("DepthAI head+hand tracker specified in config but DepthAI support was not compiled in!");
#endif #endif