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external/slam: Update to 7.0.0 with RESET_TRACKER_STATE and ignore masks

authored by

Mateo de Mayo and committed by
Jakob Bornecrantz
5fd73ea7 ae1de1f2

+13 -1
+13 -1
src/external/slam_tracker/slam_tracker.hpp
··· 29 29 30 30 // For implementation: same as IMPLEMENTATION_VERSION_* 31 31 // For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime. 32 - constexpr int HEADER_VERSION_MAJOR = 6; //!< API Breakages 32 + constexpr int HEADER_VERSION_MAJOR = 7; //!< API Breakages 33 33 constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes 34 34 constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes 35 35 ··· 61 61 find_pose_extension(pose_ext_type required_type) const; 62 62 }; 63 63 64 + struct rect { 65 + float x, y, w, h; 66 + }; 67 + 64 68 /*! 65 69 * @brief IMU Sample type to pass around between programs 66 70 */ ··· 82 86 std::int64_t timestamp; 83 87 cv::Mat img; 84 88 int cam_index; 89 + std::vector<rect> masks{}; //!< Masks to ignore 85 90 img_sample() = default; 86 91 img_sample(std::int64_t timestamp, const cv::Mat &img, int cam_index) 87 92 : timestamp(timestamp), img(img), cam_index(cam_index) {} ··· 273 278 * Enable/disable adding feature information to the estimated poses. 274 279 */ 275 280 DEFINE_FEATURE(ENABLE_POSE_EXT_FEATURES, EPEF, 4, bool, void) 281 + 282 + /*! 283 + * Feature RESET_TRACKER_STATE 284 + * 285 + * Reset tracker state. 286 + */ 287 + DEFINE_FEATURE(RESET_TRACKER_STATE, RS, 5, void, void) 276 288 277 289 /* 278 290 * Pose extensions