The open source OpenXR runtime
st/gui: Add small hand-tracking demo scene
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src/xrt/state_trackers/gui/CMakeLists.txt
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src/xrt/state_trackers/gui/CMakeLists.txt
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gui_scene.cpp
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gui_scene_calibrate.c
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gui_scene_debug.c
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gui_scene_hand_tracking_demo.c
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gui_scene_main_menu.c
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gui_scene_record.c
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gui_scene_remote.c
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if(XRT_BUILD_DRIVER_DEPTHAI)
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target_link_libraries(st_gui PRIVATE drv_depthai)
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endif()
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if(XRT_BUILD_DRIVER_HANDTRACKING)
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target_link_libraries(st_gui PRIVATE drv_ht)
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endif()
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if(XRT_BUILD_DRIVER_REMOTE)
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src/xrt/state_trackers/gui/gui_common.h
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src/xrt/state_trackers/gui/gui_common.h
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// Copyright 2019, Collabora, Ltd.
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// Copyright 2019-2023, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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*/
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void
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gui_scene_debug(struct gui_program *p);
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/*!
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* Small hand-tracking demo.
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*
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* @ingroup gui
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*/
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void
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gui_scene_hand_tracking_demo(struct gui_program *p);
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/*!
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* Create a recording view scene.
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src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
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src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
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// Copyright 2019-2023, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Small hand-tracking demo scene
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup gui
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*/
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_device.h"
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#include "xrt/xrt_results.h"
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#include "xrt/xrt_config_have.h"
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#include "xrt/xrt_config_drivers.h"
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#include "xrt/xrt_config_drivers.h"
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#include "math/m_api.h"
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#include "math/m_space.h"
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#include "multi_wrapper/multi.h"
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#include "realsense/rs_interface.h"
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#include "tracking/t_hand_tracking.h"
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#include "tracking/t_tracking.h"
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#include "util/u_file.h"
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#include "util/u_sink.h"
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#include "util/u_debug.h"
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#include "util/u_device.h"
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#include "util/u_builders.h"
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#include "util/u_config_json.h"
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#include "util/u_pretty_print.h"
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#include "util/u_system_helpers.h"
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#include "gui_common.h"
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#ifdef XRT_BUILD_DRIVER_DEPTHAI
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#include "depthai/depthai_interface.h"
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#endif
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
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#include "ht/ht_interface.h"
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#endif
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#if defined(XRT_BUILD_DRIVER_DEPTHAI) && defined(XRT_BUILD_DRIVER_HANDTRACKING)
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void
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gui_scene_hand_tracking_demo(struct gui_program *p)
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{
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struct u_system_devices *usysd = u_system_devices_allocate();
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struct xrt_system_devices *xsysd = &usysd->base;
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struct depthai_slam_startup_settings settings = {0};
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struct xrt_device *ht_dev;
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settings.frames_per_second = 60;
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settings.half_size_ov9282 = false;
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settings.want_cameras = true;
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settings.want_imu = false;
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struct xrt_fs *the_fs = depthai_fs_slam(&usysd->xfctx, &settings);
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if (the_fs == NULL) {
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xrt_system_devices_destroy(&xsysd);
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return;
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}
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struct t_stereo_camera_calibration *calib = NULL;
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depthai_fs_get_stereo_calibration(the_fs, &calib);
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struct xrt_slam_sinks *hand_sinks = NULL;
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struct t_camera_extra_info extra_camera_info = XRT_STRUCT_INIT;
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extra_camera_info.views[0].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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extra_camera_info.views[0].camera_orientation = CAMERA_ORIENTATION_0;
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extra_camera_info.views[1].boundary_type = HT_IMAGE_BOUNDARY_NONE;
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extra_camera_info.views[1].camera_orientation = CAMERA_ORIENTATION_0;
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int create_status = ht_device_create( //
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&usysd->xfctx, //
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calib, //
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HT_ALGORITHM_MERCURY, //
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extra_camera_info, //
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&hand_sinks, //
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&ht_dev); //
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t_stereo_camera_calibration_reference(&calib, NULL);
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if (create_status != 0) {
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xrt_system_devices_destroy(&xsysd);
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return;
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}
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xsysd->xdevs[xsysd->xdev_count++] = ht_dev;
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struct xrt_slam_sinks gen_lock = {0};
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u_sink_force_genlock_create( //
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&usysd->xfctx, //
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hand_sinks->left, //
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hand_sinks->right, //
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&gen_lock.left, //
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&gen_lock.right); //
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xrt_fs_slam_stream_start(the_fs, &gen_lock);
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p->xsysd = xsysd;
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gui_scene_debug(p);
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}
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#else /* XRT_BUILD_DRIVER_DEPTHAI */
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void
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gui_scene_hand_tracking_demo(struct gui_program *p)
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{
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// No-op
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}
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#endif /* XRT_BUILD_DRIVER_DEPTHAI */