The open source OpenXR runtime
d/dai, st/gui, t/common: Make DepthAI frameserver work with multicam sinks
+18
-18
+5
-5
src/xrt/drivers/depthai/depthai_driver.cpp
+5
-5
src/xrt/drivers/depthai/depthai_driver.cpp
···
894
894
struct depthai_fs *depthai = depthai_fs(xfs);
895
895
DEPTHAI_DEBUG(depthai, "DepthAI: SLAM stream start called");
896
896
897
-
depthai->sink[0] = nullptr; // 0 == CamA-4L / RGB
898
-
depthai->sink[1] = sinks->left; // 1 == CamB-2L / Left Gray
899
-
depthai->sink[2] = sinks->right; // 2 == CamC-2L / Right Gray
900
-
depthai->sink[3] = nullptr; // 3 == CamD-4L
901
-
if (depthai->want_cameras && sinks->left != NULL && sinks->right != NULL) {
897
+
depthai->sink[0] = nullptr; // 0 == CamA-4L / RGB
898
+
depthai->sink[1] = sinks->cams[0]; // 1 == CamB-2L / Left Gray
899
+
depthai->sink[2] = sinks->cams[1]; // 2 == CamC-2L / Right Gray
900
+
depthai->sink[3] = nullptr; // 3 == CamD-4L
901
+
if (depthai->want_cameras && sinks->cams[0] != NULL && sinks->cams[1] != NULL) {
902
902
os_thread_helper_start(&depthai->image_thread, depthai_mainloop, depthai);
903
903
}
904
904
if (depthai->want_imu && sinks->imu != NULL) {
+4
-4
src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
+4
-4
src/xrt/state_trackers/gui/gui_scene_hand_tracking_demo.c
···
94
94
struct xrt_slam_sinks gen_lock = {0};
95
95
u_sink_force_genlock_create( //
96
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&usysd->xfctx, //
97
-
hand_sinks->left, //
98
-
hand_sinks->right, //
99
-
&gen_lock.left, //
100
-
&gen_lock.right); //
97
+
hand_sinks->cams[0], //
98
+
hand_sinks->cams[1], //
99
+
&gen_lock.cams[0], //
100
+
&gen_lock.cams[1]); //
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101
102
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xrt_fs_slam_stream_start(the_fs, &gen_lock);
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103
+1
-1
src/xrt/state_trackers/gui/gui_scene_record.c
+1
-1
src/xrt/state_trackers/gui/gui_scene_record.c
···
224
224
struct xrt_frame_sink *tmp = &cw->base.sink;
225
225
226
226
struct xrt_slam_sinks sinks;
227
-
u_sink_combiner_create(&cw->camera.xfctx, tmp, &sinks.left, &sinks.right);
227
+
u_sink_combiner_create(&cw->camera.xfctx, tmp, &sinks.cams[0], &sinks.cams[1]);
228
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// Now that we have setup a node graph, start it.
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xrt_fs_slam_stream_start(cw->camera.xfs, &sinks);
+8
-8
src/xrt/targets/common/target_builder_north_star.c
+8
-8
src/xrt/targets/common/target_builder_north_star.c
···
313
313
struct xrt_frame_sink *entry_right_sink = NULL;
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314
315
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#ifdef XRT_BUILD_DRIVER_HANDTRACKING
316
-
u_sink_split_create(&usysd->xfctx, slam_sinks->left, hand_sinks->left, &entry_left_sink);
317
-
u_sink_split_create(&usysd->xfctx, slam_sinks->right, hand_sinks->right, &entry_right_sink);
316
+
u_sink_split_create(&usysd->xfctx, slam_sinks->cams[0], hand_sinks->cams[0], &entry_left_sink);
317
+
u_sink_split_create(&usysd->xfctx, slam_sinks->cams[1], hand_sinks->cams[1], &entry_right_sink);
318
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#else
319
-
entry_left_sink = slam_sinks->left;
320
-
entry_right_sink = slam_sinks->right;
319
+
entry_left_sink = slam_sinks->cams[0];
320
+
entry_right_sink = slam_sinks->cams[1];
321
321
#endif
322
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323
323
entry_sinks = (struct xrt_slam_sinks){
324
-
.left = entry_left_sink,
325
-
.right = entry_right_sink,
324
+
.cams[0] = entry_left_sink,
325
+
.cams[1] = entry_right_sink,
326
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.imu = slam_sinks->imu,
327
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.gt = slam_sinks->gt,
328
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};
···
330
330
struct xrt_slam_sinks dummy_slam_sinks = {0};
331
331
dummy_slam_sinks.imu = entry_sinks.imu;
332
332
333
-
u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.left, entry_sinks.right, &dummy_slam_sinks.left,
334
-
&dummy_slam_sinks.right);
333
+
u_sink_force_genlock_create(&usysd->xfctx, entry_sinks.cams[0], entry_sinks.cams[1], &dummy_slam_sinks.cams[0],
334
+
&dummy_slam_sinks.cams[1]);
335
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xrt_fs_slam_stream_start(the_fs, &dummy_slam_sinks);
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337