The open source OpenXR runtime
aux/tracking: introduce VIT loader
+189
-2
+11
-2
src/xrt/auxiliary/tracking/CMakeLists.txt
+11
-2
src/xrt/auxiliary/tracking/CMakeLists.txt
···
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endif()
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if(XRT_FEATURE_SLAM)
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-
target_sources(aux_tracking PRIVATE t_tracker_slam.cpp)
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target_link_libraries(aux_tracking PRIVATE xrt-external-slam)
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target_sources(aux_tracking
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PRIVATE
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t_vit_loader.c
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t_tracker_slam.cpp
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)
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target_link_libraries(aux_tracking
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PRIVATE
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xrt-external-slam
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xrt-external-vit
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${CMAKE_DL_LIBS}
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)
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endif()
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if(XRT_HAVE_OPENVR)
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src/xrt/auxiliary/tracking/t_vit_loader.c
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src/xrt/auxiliary/tracking/t_vit_loader.c
···
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// Copyright 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 Visual-Intertial Tracking consumer helper.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @author Simon Zeni <simon.zeni@collabora.com>
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* @ingroup aux_tracking
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*/
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#include "xrt/xrt_config_os.h"
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#include "tracking/t_vit_loader.h"
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#include "util/u_logging.h"
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#include <stdlib.h>
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+
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#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
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#include <dlfcn.h>
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#endif
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static inline void
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vit_get_proc(void *handle, const char *name, void *proc_ptr)
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{
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#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
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void *proc = dlsym(handle, name);
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char *err = dlerror();
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if (err != NULL) {
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U_LOG_E("Failed to load symbol %s", err);
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return;
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}
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*(void **)proc_ptr = proc;
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#else
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#error "Unknown platform"
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#endif
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}
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+
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bool
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t_vit_bundle_load(struct t_vit_bundle *vit, const char *path)
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{
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#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
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vit->handle = dlopen(path, RTLD_LAZY);
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if (vit->handle == NULL) {
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U_LOG_E("Failed to open VIT library: %s", dlerror());
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return false;
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}
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#else
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#error "Unknown platform"
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#endif
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+
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#define GET_PROC(SYM) \
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do { \
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vit_get_proc(vit->handle, "vit_" #SYM, &vit->SYM); \
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} while (0)
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// Get the version first.
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GET_PROC(api_get_version);
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vit->api_get_version(&vit->version.major, &vit->version.minor, &vit->version.patch);
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// Check major version.
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if (vit->version.major != VIT_HEADER_VERSION_MAJOR) {
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U_LOG_E("Incompatible major version (supports %u) was: %u.%u.%u", VIT_HEADER_VERSION_MAJOR,
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vit->version.major, vit->version.minor, vit->version.patch);
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dlclose(vit->handle);
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return false;
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}
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GET_PROC(tracker_create);
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GET_PROC(tracker_destroy);
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GET_PROC(tracker_has_image_format);
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GET_PROC(tracker_get_capabilities);
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GET_PROC(tracker_get_pose_capabilities);
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GET_PROC(tracker_set_pose_capabilities);
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GET_PROC(tracker_start);
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GET_PROC(tracker_stop);
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GET_PROC(tracker_reset);
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GET_PROC(tracker_is_running);
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GET_PROC(tracker_push_imu_sample);
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GET_PROC(tracker_push_img_sample);
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GET_PROC(tracker_add_imu_calibration);
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GET_PROC(tracker_add_camera_calibration);
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GET_PROC(tracker_pop_pose);
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GET_PROC(tracker_get_timing_titles);
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GET_PROC(pose_destroy);
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GET_PROC(pose_get_data);
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GET_PROC(pose_get_timing);
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GET_PROC(pose_get_features);
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#undef GET_PROC
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return true;
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}
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void
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t_vit_bundle_unload(struct t_vit_bundle *vit)
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{
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#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
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dlclose(vit->handle);
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#else
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#error "Unknown platform"
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#endif
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}
+77
src/xrt/auxiliary/tracking/t_vit_loader.h
+77
src/xrt/auxiliary/tracking/t_vit_loader.h
···
1
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// Copyright 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 Visual-Intertial Tracking consumer helper.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @author Simon Zeni <simon.zeni@collabora.com>
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* @ingroup aux_tracking
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*/
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#pragma once
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#include "vit/vit_interface.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* A bundle of VIT interface functions, used by the tracking interface loader.
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*
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* @ingroup aux_tracking
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*/
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struct t_vit_bundle
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{
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void *handle;
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struct
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{
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uint32_t major;
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uint32_t minor;
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uint32_t patch;
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} version;
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PFN_vit_api_get_version api_get_version;
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PFN_vit_tracker_create tracker_create;
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PFN_vit_tracker_destroy tracker_destroy;
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PFN_vit_tracker_has_image_format tracker_has_image_format;
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PFN_vit_tracker_get_capabilities tracker_get_capabilities;
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PFN_vit_tracker_get_pose_capabilities tracker_get_pose_capabilities;
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PFN_vit_tracker_set_pose_capabilities tracker_set_pose_capabilities;
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PFN_vit_tracker_start tracker_start;
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PFN_vit_tracker_stop tracker_stop;
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PFN_vit_tracker_reset tracker_reset;
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PFN_vit_tracker_is_running tracker_is_running;
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PFN_vit_tracker_push_imu_sample tracker_push_imu_sample;
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PFN_vit_tracker_push_img_sample tracker_push_img_sample;
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PFN_vit_tracker_add_imu_calibration tracker_add_imu_calibration;
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PFN_vit_tracker_add_camera_calibration tracker_add_camera_calibration;
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PFN_vit_tracker_pop_pose tracker_pop_pose;
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PFN_vit_tracker_get_timing_titles tracker_get_timing_titles;
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PFN_vit_pose_destroy pose_destroy;
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PFN_vit_pose_get_data pose_get_data;
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PFN_vit_pose_get_timing pose_get_timing;
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PFN_vit_pose_get_features pose_get_features;
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};
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/*!
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* Load the tracker.
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*
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* @ingroup aux_tracking
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*/
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bool
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t_vit_bundle_load(struct t_vit_bundle *vit, const char *path);
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+
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/*!
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* Unload the tracker.
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*
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* @ingroup aux_tracking
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*/
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void
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t_vit_bundle_unload(struct t_vit_bundle *vit);
73
+
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+
75
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#ifdef __cplusplus
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}
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#endif