The open source OpenXR runtime
t/common: Fix North Star builder
Closes #296
+20
-13
+20
-13
src/xrt/targets/common/target_builder_north_star.c
+20
-13
src/xrt/targets/common/target_builder_north_star.c
···
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#ifdef XRT_BUILD_DRIVER_DEPTHAI
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static xrt_result_t
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ns_setup_depthai_device(struct ns_builder *nsb,
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struct u_system_devices *usysd,
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struct xrt_frame_context *xfctx,
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struct xrt_device **out_hand_device,
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struct xrt_device **out_head_device)
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{
···
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settings.want_cameras = true;
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settings.want_imu = true;
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struct xrt_fs *the_fs = depthai_fs_slam(&usysd->xfctx, &settings);
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struct xrt_fs *the_fs = depthai_fs_slam(xfctx, &settings);
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if (the_fs == NULL) {
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return XRT_ERROR_DEVICE_CREATION_FAILED;
···
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extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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int create_status = ht_device_create(&usysd->xfctx, //
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calib, //
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extra_camera_info, //
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&hand_sinks, //
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out_hand_device);
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int create_status = ht_device_create( //
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xfctx, //
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calib, //
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extra_camera_info, //
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&hand_sinks, //
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out_hand_device); //
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t_stereo_camera_calibration_reference(&calib, NULL);
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if (create_status != 0) {
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return XRT_ERROR_DEVICE_CREATION_FAILED;
···
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#endif
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struct xrt_slam_sinks *slam_sinks = NULL;
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xret = twrap_slam_create_device(&usysd->xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
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xret = twrap_slam_create_device(xfctx, XRT_DEVICE_DEPTHAI, &slam_sinks, out_head_device);
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if (xret != XRT_SUCCESS) {
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U_LOG_E("twrap_slam_create_device: %u", xret);
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return xret;
···
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struct xrt_frame_sink *entry_right_sink = NULL;
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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u_sink_split_create(&usysd->xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink);
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u_sink_split_create(&usysd->xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink);
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u_sink_split_create(xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink);
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u_sink_split_create(xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink);
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#else
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entry_left_sink = slam_sinks->cams[0];
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entry_right_sink = slam_sinks->cams[1];
···
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struct xrt_slam_sinks dummy_slam_sinks = {0};
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dummy_slam_sinks.imu = entry_sinks.imu;
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u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.cams[0], entry_sinks.cams[1], &dummy_slam_sinks.cams[0],
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&dummy_slam_sinks.cams[1]);
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u_sink_force_genlock_create( //
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xfctx, //
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entry_sinks.cams[0], //
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entry_sinks.cams[1], //
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&dummy_slam_sinks.cams[0], //
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&dummy_slam_sinks.cams[1]); //
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xrt_fs_slam_stream_start(the_fs, &dummy_slam_sinks);
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···
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// Use the static system devices helper, no dynamic roles.
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struct u_system_devices_static *usysds = u_system_devices_static_allocate();
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struct xrt_system_devices *xsysd = &usysds->base.base;
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struct xrt_frame_context *xfctx = &usysds->base.xfctx;
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if (out_xsysd == NULL || *out_xsysd != NULL) {
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NS_ERROR("Invalid output system pointer");
···
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if (nsb->depthai_device.active) {
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#ifdef XRT_BUILD_DRIVER_DEPTHAI
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NS_INFO("Using DepthAI device!");
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ns_setup_depthai_device(nsb, usysd, &hand_device, &slam_device);
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ns_setup_depthai_device(nsb, xfctx, &hand_device, &slam_device);
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head_offset = nsb->depthai_device.P_middleofeyes_to_imu_oxr;
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ns_compute_depthai_ht_offset(&nsb->depthai_device.P_imu_to_left_camera_basalt, &hand_offset);
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// got_head_tracker = true;
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#else
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(void)xfctx;
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NS_ERROR("DepthAI head+hand tracker specified in config but DepthAI support was not compiled in!");
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#endif
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