The open source OpenXR runtime
d/ht: Remove DepthAI hand tracking device
This was super crufty. Instead now you use a builder to create SLAM sinks with the DepthAI builder and plug them into a regular HT device
-111
-5
src/xrt/drivers/CMakeLists.txt
-5
src/xrt/drivers/CMakeLists.txt
···
262
262
hand_async
263
263
)
264
264
265
-
if(XRT_BUILD_DRIVER_DEPTHAI)
266
-
target_sources(drv_ht PRIVATE ht/ht_prober.c)
267
-
target_link_libraries(drv_ht PRIVATE drv_depthai)
268
-
endif()
269
-
270
265
target_include_directories(drv_ht PRIVATE ${OpenCV_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
271
266
list(APPEND ENABLED_DRIVERS ht)
272
267
endif()
-44
src/xrt/drivers/ht/ht_driver.c
-44
src/xrt/drivers/ht/ht_driver.c
···
268
268
*out_device = &htd->base;
269
269
return 0;
270
270
}
271
-
272
-
#ifdef XRT_BUILD_DRIVER_DEPTHAI
273
-
struct xrt_device *
274
-
ht_device_create_depthai_ov9282()
275
-
{
276
-
XRT_TRACE_MARKER();
277
-
278
-
struct xrt_frame_context xfctx = {0};
279
-
280
-
struct xrt_fs *xfs = depthai_fs_stereo_grayscale(&xfctx);
281
-
282
-
if (xfs == NULL) {
283
-
return NULL;
284
-
}
285
-
286
-
struct t_stereo_camera_calibration *calib = NULL;
287
-
288
-
depthai_fs_get_stereo_calibration(xfs, &calib);
289
-
290
-
assert(calib != NULL);
291
-
292
-
struct t_hand_tracking_sync *sync;
293
-
294
-
struct t_camera_extra_info info;
295
-
info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
296
-
info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
297
-
298
-
sync = t_hand_tracking_sync_mercury_create(calib, info);
299
-
300
-
struct ht_device *htd = ht_device_create_common(calib, true, &xfctx, sync);
301
-
302
-
struct xrt_slam_sinks tmp;
303
-
304
-
t_stereo_camera_calibration_reference(&calib, NULL);
305
-
306
-
u_sink_force_genlock_create(&htd->xfctx, &htd->async->left, &htd->async->right, &tmp.left, &tmp.right);
307
-
308
-
xrt_fs_slam_stream_start(xfs, &tmp);
309
-
310
-
HT_DEBUG(htd, "Hand Tracker initialized!");
311
-
312
-
return &htd->base;
313
-
}
314
-
#endif
-57
src/xrt/drivers/ht/ht_prober.c
-57
src/xrt/drivers/ht/ht_prober.c
···
1
-
// Copyright 2021, Collabora, Ltd.
2
-
// SPDX-License-Identifier: BSL-1.0
3
-
/*!
4
-
* @file
5
-
* @brief Hack for making it easy to run our tracking with DepthAI cameras.
6
-
* @author Moses Turner <moses@collabora.com>
7
-
* @ingroup drv_ht
8
-
*/
9
-
10
-
#include "ht_interface.h"
11
-
12
-
#include "util/u_debug.h"
13
-
14
-
15
-
DEBUG_GET_ONCE_BOOL_OPTION(ht_use_depthai, "HT_USE_DEPTHAI", false)
16
-
17
-
static void
18
-
ht_prober_destroy(struct xrt_auto_prober *p)
19
-
{
20
-
free(p);
21
-
}
22
-
23
-
static int
24
-
ht_prober_autoprobe(struct xrt_auto_prober *xap,
25
-
cJSON *attached_data,
26
-
bool no_hmds,
27
-
struct xrt_prober *xp,
28
-
struct xrt_device **out_xdevs)
29
-
{
30
-
if (!debug_get_bool_option_ht_use_depthai()) {
31
-
return 0;
32
-
}
33
-
34
-
struct xrt_device *ht = ht_device_create_depthai_ov9282();
35
-
36
-
if (ht == NULL) {
37
-
return 0;
38
-
}
39
-
40
-
int out_idx = 0;
41
-
42
-
out_xdevs[out_idx++] = ht;
43
-
return out_idx;
44
-
}
45
-
46
-
47
-
48
-
struct xrt_auto_prober *
49
-
ht_create_auto_prober()
50
-
{
51
-
struct xrt_auto_prober *xap = U_TYPED_CALLOC(struct xrt_auto_prober);
52
-
xap->name = "ht_depthai";
53
-
xap->destroy = ht_prober_destroy;
54
-
xap->lelo_dallas_autoprobe = ht_prober_autoprobe;
55
-
56
-
return xap;
57
-
}