gui: add SLAM Stereo option to calibrate gui

src/xrt/auxiliary/util/u_config_json.c

@@ -427,6 +427,7 @@ u_config_json_save_calibration(struct u_config_json *json, struct xrt_settings_t
 	switch (settings->camera_type) {
 	case XRT_SETTINGS_CAMERA_TYPE_REGULAR_MONO: cJSON_AddStringToObject(t, "camera_type", "regular_mono"); break;
 	case XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS: cJSON_AddStringToObject(t, "camera_type", "regular_sbs"); break;
+	case XRT_SETTINGS_CAMERA_TYPE_SLAM: cJSON_AddStringToObject(t, "camera_type", "slam_sbs"); break;
 	case XRT_SETTINGS_CAMERA_TYPE_PS4: cJSON_AddStringToObject(t, "camera_type", "ps4"); break;
 	case XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION: cJSON_AddStringToObject(t, "camera_type", "leap_motion"); break;
 	}

src/xrt/include/xrt/xrt_settings.h

@@ -32,8 +32,9 @@ enum xrt_settings_camera_type
 {
 	XRT_SETTINGS_CAMERA_TYPE_REGULAR_MONO = 0,
 	XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS = 1, // side-by-side
-	XRT_SETTINGS_CAMERA_TYPE_PS4 = 2,
+	XRT_SETTINGS_CAMERA_TYPE_SLAM = 2,
-	XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION = 3,
+	XRT_SETTINGS_CAMERA_TYPE_PS4 = 3,
+	XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION = 4,
 };
 
 #define XRT_SETTINGS_CAMERA_NAME_LENGTH 256

src/xrt/state_trackers/gui/gui_scene_calibrate.c

@@ -232,7 +232,7 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
 	igBegin("Params", NULL, 0);
 
 	igComboStr("Type", (int *)&cs->settings->camera_type,
-	           "Regular Mono\0Regular Stereo (Side-by-Side)\0PS4\0Leap Motion Controller\0\0", -1);
+	           "Regular Mono\0Regular Stereo (Side-by-Side)\0SLAM Stereo\0PS4\0Leap Motion Controller\0\0", -1);
 
 	switch (cs->settings->camera_type) {
 	case XRT_SETTINGS_CAMERA_TYPE_REGULAR_MONO:
@@ -243,6 +243,10 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
 		igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
 		cs->params.stereo_sbs = true;
 		break;
+	case XRT_SETTINGS_CAMERA_TYPE_SLAM:
+		igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
+		cs->params.stereo_sbs = true;
+		break;
 	case XRT_SETTINGS_CAMERA_TYPE_PS4:
 		cs->params.use_fisheye = false;
 		cs->params.stereo_sbs = true;
@@ -337,7 +341,17 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
 	u_sink_quirk_create(cs->xfctx, cali, &qp, &cali);
 
 	// Now that we have setup a node graph, start it.
-	xrt_fs_stream_start(cs->xfs, cali, XRT_FS_CAPTURE_TYPE_CALIBRATION, cs->settings->camera_mode);
+
+	if (cs->settings->camera_type == XRT_SETTINGS_CAMERA_TYPE_SLAM) {
+		struct xrt_frame_sink *tmp = cali;
+		struct xrt_slam_sinks sinks;
+		u_sink_combiner_create(cs->xfctx, tmp, &sinks.left, &sinks.right);
+
+		xrt_fs_slam_stream_start(cs->xfs, &sinks);
+	} else {
+		xrt_fs_stream_start(cs->xfs, cali, XRT_FS_CAPTURE_TYPE_CALIBRATION, cs->settings->camera_mode);
+	}
+
 #else
 	gui_scene_delete_me(p, &cs->base);
 #endif
@@ -426,6 +440,7 @@ gui_scene_calibrate(struct gui_program *p,
 		cs->params.stereo_sbs = true;
 		cs->settings->camera_type = XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS;
 	}
+
 #endif
 	gui_scene_push_front(p, &cs->base);
 }

src/xrt/state_trackers/gui/gui_scene_video.c

@@ -52,7 +52,7 @@ static ImVec2 button_dims = {256 + 64, 0};
 
 #ifdef XRT_BUILD_DRIVER_DEPTHAI
 static void
-create_depthai(struct video_select *vs)
+create_depthai_monocular(struct video_select *vs)
 {
 	vs->xfctx = U_TYPED_CALLOC(struct xrt_frame_context);
 
@@ -64,6 +64,24 @@ create_depthai(struct video_select *vs)
 		return;
 	}
 
+	xrt_fs_enumerate_modes(vs->xfs, &vs->modes, &vs->num_modes);
+}
+
+static void
+create_depthai_stereo(struct video_select *vs)
+{
+	vs->xfctx = U_TYPED_CALLOC(struct xrt_frame_context);
+
+	vs->xfs = depthai_fs_stereo_grayscale(vs->xfctx);
+	if (vs->xfs == NULL) {
+		U_LOG_E("Failed to open DepthAI camera!");
+		free(vs->xfctx);
+		vs->xfctx = NULL;
+		return;
+	}
+	vs->settings->camera_type = XRT_SETTINGS_CAMERA_TYPE_SLAM;
+
+
 	xrt_fs_enumerate_modes(vs->xfs, &vs->modes, &vs->num_modes);
 }
 #endif /* XRT_BUILD_DRIVER_DEPTHAI */
@@ -128,8 +146,11 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
 
 #ifdef XRT_BUILD_DRIVER_DEPTHAI
 		igSeparator();
-		if (igButton("DepthAI", button_dims)) {
+		if (igButton("DepthAI (Monocular)", button_dims)) {
-			create_depthai(vs);
+			create_depthai_monocular(vs);
+		}
+		if (igButton("DepthAI (Stereo)", button_dims)) {
+			create_depthai_stereo(vs);
 		}
 #endif
 	} else if (vs->num_modes == 0) {

src/xrt/state_trackers/prober/p_tracking.c

@@ -214,6 +214,11 @@ p_factory_ensure_frameserver(struct p_factory *fact)
 		qp.ps4_cam = false;
 		qp.leap_motion = false;
 		break;
+	case XRT_SETTINGS_CAMERA_TYPE_SLAM:
+		qp.stereo_sbs = true;
+		qp.ps4_cam = false;
+		qp.leap_motion = false;
+		break;
 	case XRT_SETTINGS_CAMERA_TYPE_PS4:
 		qp.stereo_sbs = true;
 		qp.ps4_cam = true;