Commit 79eba848 authored by Jakob Bornecrantz's avatar Jakob Bornecrantz
Browse files

st/prober: Add hardcoded tracking system integration for PSMV and PSVR

parent 871b06cd
Pipeline #65396 failed with stages
in 2 minutes and 6 seconds
......@@ -15,6 +15,7 @@ set(PROBER_SOURCE_FILES
p_dump.c
p_prober.c
p_prober.h
p_tracking.c
)
# Add libudev
......
......@@ -305,6 +305,12 @@ initialize(struct prober* p, struct xrt_prober_entry_lists* lists)
}
#endif
ret = p_tracking_init(p);
if (ret != 0) {
teardown(p);
return -1;
}
for (int i = 0; i < MAX_AUTO_PROBERS && lists->auto_probers[i]; i++) {
p->auto_probers[i] = lists->auto_probers[i]();
}
......@@ -375,6 +381,9 @@ teardown(struct prober* p)
p->auto_probers[i] = NULL;
}
// Need to turn off tracking early.
p_tracking_teardown(p);
// Need to free all entries.
if (p->entries != NULL) {
free(p->entries);
......
......@@ -192,6 +192,18 @@ p_dev_get_bluetooth_dev(struct prober* p,
uint16_t product_id,
struct prober_device** out_pdev);
/*!
* Init the tracking factory.
*/
int
p_tracking_init(struct prober* p);
/*!
* Teardown the tracking factory.
*/
void
p_tracking_teardown(struct prober* p);
#ifdef XRT_HAVE_LIBUSB
int
p_libusb_init(struct prober* p);
......
// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Tracking integration code.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @ingroup st_prober
*/
#include "xrt/xrt_frame.h"
#include "xrt/xrt_frameserver.h"
#include "xrt/xrt_tracking.h"
#ifdef XRT_HAVE_OPENCV
#include "tracking/t_tracking.h"
#endif
#include "util/u_misc.h"
#include "util/u_sink.h"
#include "p_prober.h"
#include <stdio.h>
#include <string.h>
/*
*
* Structs and defines.
*
*/
struct p_factory
{
//! Base struct.
struct xrt_tracking_factory base;
// Owning prober.
struct prober *p;
//! Shared tracking origin.
struct xrt_tracking_origin origin;
//! For destruction of the node graph.
struct xrt_frame_context xfctx;
#ifdef XRT_HAVE_OPENCV
//! Keep track of how many psmv trackers that has been handed out.
size_t num_xtmv;
//! Pre-created psmv trackers.
struct xrt_tracked_psmv *xtmv[2];
//! Have we handed out the psvr tracker.
bool started_xtvr;
//! Pre-created psvr trackers.
struct xrt_tracked_psvr *xtvr;
#endif
// Frameserver.
struct xrt_fs *xfs;
};
/*
*
* Functions.
*
*/
XRT_MAYBE_UNUSED static struct p_factory *
p_factory(struct xrt_tracking_factory *xfact)
{
return (struct p_factory *)xfact;
}
#ifdef XRT_HAVE_OPENCV
static void
on_video_device(struct xrt_prober *xp,
struct xrt_prober_device *pdev,
const char *name,
void *ptr)
{
struct p_factory *fact = (struct p_factory *)ptr;
if (fact->xfs != NULL || name == NULL) {
return;
}
// Hardcoded to PS4 camera.
if (strcmp(name, "USB Camera-OV580") != 0) {
return;
}
xrt_prober_open_video_device(&fact->p->base, pdev, &fact->xfctx,
&fact->xfs);
}
static void
p_factory_ensure_frameserver(struct p_factory *fact)
{
// Already created.
if (fact->xfs != NULL) {
return;
}
//! @todo This is the place where we read the config from file.
xrt_prober_list_video_devices(&fact->p->base, on_video_device, fact);
if (fact->xfs == NULL) {
return;
}
struct xrt_frame_sink *xsink = NULL;
struct xrt_frame_sink *xsinks[4] = {0};
struct xrt_colour_rgb_f32 rgb[2] = {{1.f, 0.f, 1.f}, {1.f, 0.f, 0.f}};
// We create the two psmv trackers up front, but don't start them.
t_psmv_create(&fact->xfctx, &rgb[0], &fact->xtmv[0], &xsinks[0]);
t_psmv_create(&fact->xfctx, &rgb[1], &fact->xtmv[1], &xsinks[1]);
t_psvr_create(&fact->xfctx, &fact->xtvr, &xsinks[2]);
// Setup origin to the common one.
fact->xtmv[0]->origin = &fact->origin;
fact->xtmv[1]->origin = &fact->origin;
// We create the default multi-channel hsv filter.
struct t_hsv_filter_params params = T_HSV_DEFAULT_PARAMS();
t_hsv_filter_create(&fact->xfctx, &params, xsinks, &xsink);
// The filter only supports yuv or yuyv formats.
u_sink_create_to_yuv_or_yuyv(&fact->xfctx, xsink, &xsink);
// Put a queue before it to multi-thread the filter.
u_sink_queue_create(&fact->xfctx, xsink, &xsink);
// Start the stream now.
xrt_fs_stream_start(fact->xfs, xsink, 1);
}
#endif
/*
*
* Tracking factory functions.
*
*/
static int
p_factory_create_tracked_psmv(struct xrt_tracking_factory *xfact,
struct xrt_device *xdev,
struct xrt_tracked_psmv **out_xtmv)
{
#ifdef XRT_HAVE_OPENCV
struct p_factory *fact = p_factory(xfact);
struct xrt_tracked_psmv *xtmv = NULL;
p_factory_ensure_frameserver(fact);
if (fact->num_xtmv < ARRAY_SIZE(fact->xtmv)) {
xtmv = fact->xtmv[fact->num_xtmv++];
}
if (xtmv == NULL) {
return -1;
}
t_psmv_start(xtmv);
*out_xtmv = xtmv;
return 0;
#else
return -1;
#endif
}
static int
p_factory_create_tracked_psvr(struct xrt_tracking_factory *xfact,
struct xrt_device *xdev,
struct xrt_tracked_psvr **out_xtvr)
{
#ifdef XRT_HAVE_OPENCV
struct p_factory *fact = p_factory(xfact);
struct xrt_tracked_psvr *xtvr = NULL;
p_factory_ensure_frameserver(fact);
if (!fact->started_xtvr) {
xtvr = fact->xtvr;
}
if (xtvr == NULL) {
return -1;
}
fact->started_xtvr = true;
t_psvr_start(xtvr);
*out_xtvr = xtvr;
return 0;
#else
return -1;
#endif
}
/*
*
* "Exported" prober functions.
*
*/
int
p_tracking_init(struct prober *p)
{
struct p_factory *fact = U_TYPED_CALLOC(struct p_factory);
fact->base.xfctx = &fact->xfctx;
fact->base.create_tracked_psmv = p_factory_create_tracked_psmv;
fact->base.create_tracked_psvr = p_factory_create_tracked_psvr;
fact->origin.type = XRT_TRACKING_TYPE_RGB;
fact->origin.offset.orientation.w = 1.0f;
fact->p = p;
// Finally set us as the tracking factory.
p->base.tracking = &fact->base;
return 0;
}
void
p_tracking_teardown(struct prober *p)
{
if (p->base.tracking == NULL) {
return;
}
struct p_factory *fact = p_factory(p->base.tracking);
// Drop any references to objects in the node graph.
fact->xfs = NULL;
#ifdef XRT_HAVE_OPENCV
fact->xtmv[0] = NULL;
fact->xtmv[1] = NULL;
#endif
// Take down the node graph.
xrt_frame_context_destroy_nodes(&fact->xfctx);
free(fact);
p->base.tracking = NULL;
}
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