st/gui: Add small hand-tracking demo scene

src/xrt/state_trackers/gui/CMakeLists.txt

@@ -13,6 +13,7 @@ add_library(
 	gui_scene.cpp
 	gui_scene_calibrate.c
 	gui_scene_debug.c
+	gui_scene_hand_tracking_demo.c
 	gui_scene_main_menu.c
 	gui_scene_record.c
 	gui_scene_remote.c
@@ -44,6 +45,10 @@ if(XRT_BUILD_DRIVER_DEPTHAI)
 	target_link_libraries(st_gui PRIVATE drv_depthai)
 endif()
 
+if(XRT_BUILD_DRIVER_HANDTRACKING)
+	target_link_libraries(st_gui PRIVATE drv_ht)
+endif()
+
 if(XRT_BUILD_DRIVER_REMOTE)
 	target_link_libraries(st_gui PRIVATE drv_remote)
 endif()

src/xrt/state_trackers/gui/gui_common.h

@@ -1,4 +1,4 @@
-// Copyright 2019, Collabora, Ltd.
+// Copyright 2019-2023, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -213,6 +213,14 @@ gui_scene_tracking_overrides(struct gui_program *p);
 void
 gui_scene_debug(struct gui_program *p);
 
+/*!
+ * Small hand-tracking demo.
+ *
+ * @ingroup gui
+ */
+void
+gui_scene_hand_tracking_demo(struct gui_program *p);
+
 /*!
  * Create a recording view scene.
  *

src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c

@@ -0,0 +1,121 @@
+// Copyright 2019-2023, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Small hand-tracking demo scene
+ * @author Jakob Bornecrantz <jakob@collabora.com>
+ * @ingroup gui
+ */
+
+#include "xrt/xrt_prober.h"
+#include "xrt/xrt_device.h"
+#include "xrt/xrt_results.h"
+#include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_drivers.h"
+#include "xrt/xrt_config_drivers.h"
+
+#include "math/m_api.h"
+#include "math/m_space.h"
+#include "multi_wrapper/multi.h"
+#include "realsense/rs_interface.h"
+#include "tracking/t_hand_tracking.h"
+#include "tracking/t_tracking.h"
+
+#include "util/u_file.h"
+#include "util/u_sink.h"
+#include "util/u_debug.h"
+#include "util/u_device.h"
+#include "util/u_builders.h"
+#include "util/u_config_json.h"
+#include "util/u_pretty_print.h"
+#include "util/u_system_helpers.h"
+
+#include "gui_common.h"
+
+
+#ifdef XRT_BUILD_DRIVER_DEPTHAI
+#include "depthai/depthai_interface.h"
+#endif
+
+#ifdef XRT_BUILD_DRIVER_HANDTRACKING
+#include "ht/ht_interface.h"
+#endif
+
+
+#if defined(XRT_BUILD_DRIVER_DEPTHAI) && defined(XRT_BUILD_DRIVER_HANDTRACKING)
+
+
+void
+gui_scene_hand_tracking_demo(struct gui_program *p)
+{
+	struct u_system_devices *usysd = u_system_devices_allocate();
+	struct xrt_system_devices *xsysd = &usysd->base;
+	struct depthai_slam_startup_settings settings = {0};
+	struct xrt_device *ht_dev;
+
+	settings.frames_per_second = 60;
+	settings.half_size_ov9282 = false;
+	settings.want_cameras = true;
+	settings.want_imu = false;
+
+	struct xrt_fs *the_fs = depthai_fs_slam(&usysd->xfctx, &settings);
+
+	if (the_fs == NULL) {
+		xrt_system_devices_destroy(&xsysd);
+		return;
+	}
+
+	struct t_stereo_camera_calibration *calib = NULL;
+	depthai_fs_get_stereo_calibration(the_fs, &calib);
+
+
+	struct xrt_slam_sinks *hand_sinks = NULL;
+
+	struct t_camera_extra_info extra_camera_info = XRT_STRUCT_INIT;
+	extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
+	extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_0;
+	extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
+	extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_0;
+
+	int create_status = ht_device_create( //
+	    &usysd->xfctx,                    //
+	    calib,                            //
+	    HT_ALGORITHM_MERCURY,             //
+	    extra_camera_info,                //
+	    &hand_sinks,                      //
+	    &ht_dev);                         //
+	t_stereo_camera_calibration_reference(&calib, NULL);
+	if (create_status != 0) {
+		xrt_system_devices_destroy(&xsysd);
+		return;
+	}
+
+	xsysd->xdevs[xsysd->xdev_count++] = ht_dev;
+
+	struct xrt_slam_sinks gen_lock = {0};
+	u_sink_force_genlock_create( //
+	    &usysd->xfctx,           //
+	    hand_sinks->left,        //
+	    hand_sinks->right,       //
+	    &gen_lock.left,          //
+	    &gen_lock.right);        //
+
+	xrt_fs_slam_stream_start(the_fs, &gen_lock);
+
+	p->xsysd = xsysd;
+
+	gui_scene_debug(p);
+}
+
+
+#else /* XRT_BUILD_DRIVER_DEPTHAI */
+
+
+void
+gui_scene_hand_tracking_demo(struct gui_program *p)
+{
+	// No-op
+}
+
+
+#endif /* XRT_BUILD_DRIVER_DEPTHAI */

src/xrt/state_trackers/gui/gui_scene_main_menu.c

@@ -77,6 +77,11 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
 		gui_scene_remote(p, NULL);
 	}
 
+	if (igButton("Hand-Tracking Demo", button_dims)) {
+		gui_scene_delete_me(p, scene);
+		gui_scene_hand_tracking_demo(p);
+	}
+
 	igSeparator();
 
 	if (igButton("Exit", button_dims)) {