The open source OpenXR runtime
t/slam: Prioritize SLAM_CONFIG over driver calibration if set
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
6bc551d0
e24ec3d4
+27
-20
+27
-20
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+27
-20
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
···
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t.slam->use_feature(F_ADD_IMU_CALIBRATION, params, result);
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}
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static void
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send_calibration(const TrackerSlam &t, const t_slam_tracker_config &c)
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{
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// Try to send camera calibration data to the SLAM system
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if (c.stereo_calib && c.extra_calib && t.slam->supports_feature(F_ADD_CAMERA_CALIBRATION)) {
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SLAM_INFO("Sending Camera calibration from Monado");
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add_camera_calibration(t, c.stereo_calib, c.extra_calib);
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} else {
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SLAM_INFO("Cameras will use the calibration provided by the SLAM_CONFIG file");
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}
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// Try to send IMU calibration data to the SLAM system
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if (c.imu_calib && c.extra_calib && t.slam->supports_feature(F_ADD_IMU_CALIBRATION)) {
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SLAM_INFO("Sending IMU calibration from Monado");
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add_imu_calibration(t, c.imu_calib, c.extra_calib);
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} else {
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SLAM_INFO("The IMU will use the calibration provided by the SLAM_CONFIG file");
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}
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}
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} // namespace xrt::auxiliary::tracking::slam
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using namespace xrt::auxiliary::tracking::slam;
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const char *config_file = config->slam_config;
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bool some_calib = config->stereo_calib || config->imu_calib;
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if (!config_file && !some_calib) {
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U_LOG_IFL_W(log_level, "Unable to determine sensor calibration, did you forgot to set SLAM_CONFIG?");
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U_LOG_IFL_W(log_level, "Unable to determine sensor calibration, did you forget to set SLAM_CONFIG?");
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return -1;
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}
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if (!config_file) {
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// Indicate the external system to use default (non-calibration) settings
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config_file = "DEFAULT";
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}
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auto &t = *(new TrackerSlam{});
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t.base.get_tracked_pose = t_slam_get_tracked_pose;
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std::string config_file_string = std::string(config_file);
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std::string config_file_string = std::string(config_file ? config_file : "DEFAULT");
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t.slam = new slam_tracker{config_file_string};
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// Try to send camera calibration data to the SLAM system
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if (config->stereo_calib && config->extra_calib && t.slam->supports_feature(F_ADD_CAMERA_CALIBRATION)) {
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SLAM_INFO("Sending Camera calibration from Monado");
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add_camera_calibration(t, config->stereo_calib, config->extra_calib);
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if (!config_file) {
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SLAM_INFO("Using calibration from driver and default pipeline settings");
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send_calibration(t, *config);
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} else {
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SLAM_INFO("Cameras will use the calibration provided by the SLAM_CONFIG file");
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}
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// Try to send IMU calibration data to the SLAM system
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if (config->imu_calib && config->extra_calib && t.slam->supports_feature(F_ADD_IMU_CALIBRATION)) {
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SLAM_INFO("Sending IMU calibration from Monado");
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add_imu_calibration(t, config->imu_calib, config->extra_calib);
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} else {
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SLAM_INFO("The IMU will use the calibration provided by the SLAM_CONFIG file");
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SLAM_INFO("Using sensor calibration provided by the SLAM_CONFIG file");
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}
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t.slam->initialize();