xrt: Switch to new quirking sink

This is done in one commit as split out they would leave the code
in a fairly broken state.

src/xrt/auxiliary/tracking/t_calibration.cpp

@@ -138,6 +138,8 @@ public:
 
 	//! Is the camera fisheye.
 	bool use_fisheye = false;
+	//! From parameters.
+	bool stereo_sbs = false;
 
 	//! Should we clear the frame.
 	bool clear_frame = false;
@@ -572,7 +574,6 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
 		    flags);                         // flags
 	}
 
-
 	// Validate that nothing has been re-allocated.
 	assert(wrapped.isDataStorageValid());
 
@@ -1117,9 +1118,9 @@ process_load_image(class Calibration &c, struct xrt_frame *xf)
 		refresh_gui_frame(c, c.gray.rows, c.gray.cols);
 		cv::cvtColor(c.gray, c.gui.rgb, cv::COLOR_GRAY2RGB);
 
-#if 0
-		xf->stereo_format = XRT_STEREO_FORMAT_SBS;
-#endif
+		if (c.stereo_sbs) {
+			xf->stereo_format = XRT_STEREO_FORMAT_SBS;
+		}
 
 		// Call the normal frame processing now.
 		make_calibration_frame(c, xf);
@@ -1202,6 +1203,7 @@ t_calibration_stereo_create(struct xrt_frame_context *xfctx,
 
 	// Copy the parameters.
 	c.use_fisheye = params->use_fisheye;
+	c.stereo_sbs = params->stereo_sbs;
 	c.board.pattern = params->pattern;
 	switch (params->pattern) {
 	case T_BOARD_CHECKERS:

src/xrt/auxiliary/tracking/t_tracking.h

@@ -327,7 +327,8 @@ struct t_calibration_params
 {
 	//! Should we use fisheye version of the calibration functions.
 	bool use_fisheye;
-
+	//! Is the camera a stereo sbs camera, mostly for image loading.
+	bool stereo_sbs;
 	//! What type of pattern are we using for calibration.
 	enum t_board_pattern pattern;
 
@@ -382,7 +383,11 @@ struct t_calibration_params
 static inline void
 t_calibration_params_default(struct t_calibration_params *p)
 {
-	p->use_fisheye = true;
+	// Camera config.
+	p->use_fisheye = false;
+	p->stereo_sbs = true;
+
+	// Which board should we calibrate against.
 	p->pattern = T_BOARD_CHECKERS;
 
 	// Checker board.

src/xrt/drivers/v4l2/v4l2_driver.c

@@ -410,29 +410,6 @@ v4l2_setup_userptr_buffer(struct v4l2_fs *vid,
  *
  */
 
-static void
-v4l2_quirk_apply_ps4(struct v4l2_fs *vid, struct v4l2_source_descriptor *desc)
-{
-	desc->offset = 32 + 64;
-	desc->base.stereo_format = XRT_STEREO_FORMAT_SBS;
-
-	switch (desc->stream.width) {
-	case 3448:
-		desc->base.width = 1280 * 2;
-		desc->base.height = 800;
-		break;
-	case 1748:
-		desc->base.width = 640 * 2;
-		desc->base.height = 400;
-		break;
-	case 898:
-		desc->base.width = 320 * 2;
-		desc->base.height = 192;
-		break;
-	default: break;
-	}
-}
-
 static struct v4l2_source_descriptor *
 v4l2_add_descriptor(struct v4l2_fs *vid)
 {
@@ -524,14 +501,6 @@ v4l2_list_modes_size(struct v4l2_fs *vid,
 	desc->base.format = format;
 	desc->base.width = desc->stream.width;
 	desc->base.height = desc->stream.height;
-
-	/*
-	 * Apply any quirks to the modes.
-	 */
-
-	if (vid->quirks.ps4_cam) {
-		v4l2_quirk_apply_ps4(vid, desc);
-	}
 }
 
 static void

src/xrt/state_trackers/gui/gui_scene_calibrate.c

@@ -39,6 +39,8 @@ struct calibration_scene
 	struct xrt_frame_context *xfctx;
 	struct xrt_fs *xfs;
 	size_t mode;
+
+	bool ps4_cam;
 };
 
 
@@ -168,14 +170,22 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
 	igBegin("Params", NULL, 0);
 
 	// clang-format off
-	igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
+	if (!cs->ps4_cam) {
+		igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
+		igCheckbox("Stereo (Side-By-Side) Camera", &cs->params.stereo_sbs);
+	}
+	igCheckbox("PS4 Camera", &cs->ps4_cam);
+	if (cs->ps4_cam) {
+		cs->params.use_fisheye = false;
+		cs->params.stereo_sbs = true;
+	}
 
 	igSeparator();
 	igCheckbox("Mirror on-screen preview", &cs->params.mirror_rgb_image);
 	igCheckbox("Save images", &cs->params.save_images);
 
 	igSeparator();
-	igCheckbox("Load images (mono only)", &cs->params.load.enabled);
+	igCheckbox("Load images", &cs->params.load.enabled);
 	if (cs->params.load.enabled) {
 		igInputInt("# images", &cs->params.load.num_images, 1, 5, 0);
 	}
@@ -239,6 +249,8 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
 	u_sink_create_to_yuv_or_yuyv(cs->xfctx, cali, &cali);
 	u_sink_queue_create(cs->xfctx, cali, &cali);
 	u_sink_split_create(cs->xfctx, raw, cali, &cali);
+	u_sink_quirk_create(cs->xfctx, cali, cs->params.stereo_sbs, cs->ps4_cam,
+	                    &cali);
 
 	// Now that we have setup a node graph, start it.
 	xrt_fs_stream_start(cs->xfs, cali, cs->mode);
@@ -283,6 +295,26 @@ gui_scene_calibrate(struct gui_program *p,
 
 #ifdef XRT_HAVE_OPENCV
 	t_calibration_params_default(&cs->params);
+
+	/*
+	 * Pre-quirk some known cameras.
+	 */
+
+	// PS4 Camera.
+	if (strcmp(xfs->name, "USB Camera-OV580: USB Camera-OV") == 0) {
+		// It's one speedy camera. :)
+		cs->params.num_cooldown_frames = 240;
+		cs->params.num_wait_for = 10;
+		cs->params.stereo_sbs = true;
+		cs->ps4_cam = true;
+	}
+
+	// Valve Index and ELP Stereo Camera.
+	if (strcmp(xfs->name, "3D Camera: eTronVideo") == 0 ||
+	    strcmp(xfs->name, "3D USB Camera: 3D USB Camera") == 0) {
+		cs->params.stereo_sbs = true;
+		cs->params.use_fisheye = true;
+	}
 #endif
 	gui_scene_push_front(p, &cs->base);
 }

src/xrt/state_trackers/prober/p_tracking.c

@@ -148,6 +148,9 @@ p_factory_ensure_frameserver(struct p_factory *fact)
 	// Put a queue before it to multi-thread the filter.
 	u_sink_queue_create(&fact->xfctx, xsink, &xsink);
 
+	// Hardcoded quirk sink.
+	u_sink_quirk_create(&fact->xfctx, xsink, true, true, &xsink);
+
 	// Start the stream now.
 	xrt_fs_stream_start(fact->xfs, xsink, 1);
 }