The open source OpenXR runtime
external/slam: Update interface to support multiple cameras
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
09d7aac8
52cac31d
+11
-7
+10
-7
src/external/slam_tracker/slam_tracker.hpp
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src/external/slam_tracker/slam_tracker.hpp
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// For implementation: same as IMPLEMENTATION_VERSION_*
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// For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
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constexpr int HEADER_VERSION_MAJOR = 5; //!< API Breakages
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constexpr int HEADER_VERSION_MAJOR = 6; //!< API Breakages
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constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes
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constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes
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···
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struct img_sample {
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std::int64_t timestamp;
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cv::Mat img;
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bool is_left;
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int cam_index;
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img_sample() = default;
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img_sample(std::int64_t timestamp, const cv::Mat &img, bool is_left)
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: timestamp(timestamp), img(img), is_left(is_left) {}
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img_sample(std::int64_t timestamp, const cv::Mat &img, int cam_index)
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: timestamp(timestamp), img(img), cam_index(cam_index) {}
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};
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/*!
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//! Path to a implementation-specific config file. If null, use defaults.
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std::shared_ptr<std::string> config_file;
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//! Number of cameras to use. Required.
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int cam_count = -1;
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//! If supported, whether to open the system's UI.
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bool show_ui;
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bool show_ui = false;
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};
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/*!
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* @brief Push an image sample into the tracker.
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*
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* Same conditions as @ref push_imu_sample apply.
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* When using stereo frames, they must be pushed in a left-right order.
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* The consecutive left-right pair must have the same timestamps.
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* When using N>1 cameras, the N frames must be pushed following cam_id order.
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* The bundle of N frames must have the same timestamps.
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*/
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void push_frame(const img_sample &sample);
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+1
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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slam_config system_config = {};
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system_config.config_file = config_file ? make_shared<string>(config_file) : nullptr;
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system_config.cam_count = NUM_CAMS;
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system_config.show_ui = config->slam_ui;
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t.slam = new slam_tracker{system_config};
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