st/gui: Add EuRoC recorder for DepthAI cameras

src/xrt/state_trackers/gui/CMakeLists.txt

@@ -14,6 +14,7 @@ add_library(
 	gui_scene_calibrate.c
 	gui_scene_debug.c
 	gui_scene_hand_tracking_demo.c
+	gui_scene_record_euroc.c
 	gui_scene_main_menu.c
 	gui_scene_record.c
 	gui_scene_remote.c

src/xrt/state_trackers/gui/gui_common.h

@@ -220,6 +220,14 @@ gui_scene_debug(struct gui_program *p);
 void
 gui_scene_hand_tracking_demo(struct gui_program *p);
 
+/*!
+ * EuRoC recorder for DepthAI cameras
+ *
+ * @ingroup gui
+ */
+void
+gui_scene_record_euroc(struct gui_program *p);
+
 /*!
  * Create a recording view scene.
  *

src/xrt/state_trackers/gui/gui_scene_main_menu.c

@@ -82,6 +82,11 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
 		gui_scene_hand_tracking_demo(p);
 	}
 
+	if (igButton("EuRoC recorder (DepthAI Stereo)", button_dims)) {
+		gui_scene_delete_me(p, scene);
+		gui_scene_record_euroc(p);
+	}
+
 	igSeparator();
 
 	if (igButton("Exit", button_dims)) {

src/xrt/state_trackers/gui/gui_scene_record_euroc.c

@@ -0,0 +1,105 @@
+// 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_results.h"
+#include "xrt/xrt_system.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 "tracking/t_hand_tracking.h"
+#include "tracking/t_tracking.h"
+#include "tracking/t_euroc_recorder.h"
+
+#include "util/u_var.h"
+#include "util/u_sink.h"
+#include "util/u_debug.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_record_euroc(struct gui_program *p)
+{
+	// Dummy so that gui_scene_debug doesn't try to probe.
+	struct u_system_devices *usysd = u_system_devices_allocate();
+	struct xrt_system_devices *xsysd = &usysd->base;
+	p->xsysd = xsysd;
+
+	struct xrt_frame_context xfctx;
+	struct depthai_slam_startup_settings settings = {0};
+
+	settings.frames_per_second = 60;
+	// This is not what we use for HT/SLAM, but it's better here because it lets us see calibration patterns in more
+	// detail.
+	// For now, if you use this you will have to manually multiply all fx, fy, cx, cy by 0.5. No distortion
+	// values, just camera projection values.
+	settings.half_size_ov9282 = false;
+	settings.want_cameras = true;
+	settings.want_imu = false;
+
+	struct xrt_fs *the_fs = depthai_fs_slam(&xfctx, &settings);
+
+	if (the_fs == NULL) {
+		xrt_system_devices_destroy(&xsysd);
+		return;
+	}
+
+
+	struct xrt_slam_sinks *slam_sinks = NULL;
+	slam_sinks = euroc_recorder_create(&xfctx, NULL, 2, false);
+
+	u_var_add_root(usysd, "DepthAI Euroc recorder", 0);
+	euroc_recorder_add_ui(slam_sinks, usysd, "");
+
+
+	struct xrt_slam_sinks gen_lock = {0};
+	u_sink_force_genlock_create( //
+	    &xfctx,                  //
+	    slam_sinks->cams[0],     //
+	    slam_sinks->cams[1],     //
+	    &gen_lock.cams[0],       //
+	    &gen_lock.cams[1]);      //
+
+	gen_lock.imu = slam_sinks->imu;
+
+	xrt_fs_slam_stream_start(the_fs, &gen_lock);
+
+	gui_scene_debug(p);
+}
+
+
+#else /* XRT_BUILD_DRIVER_DEPTHAI */
+
+
+void
+gui_scene_record_euroc(struct gui_program *p)
+{
+	// No-op
+}
+
+
+#endif /* XRT_BUILD_DRIVER_DEPTHAI */