The open source OpenXR runtime
external/vit: Update to 1.0.1 and remove unused cpp helper
authored by
Mateo de Mayo
and committed by
Simon Zeni
d80a41f3
a10644c8
+63
-299
-216
src/external/vit_includes/vit/vit_implementation_helper.hpp
-216
src/external/vit_includes/vit/vit_implementation_helper.hpp
···
1
-
// Copyright 2023, Collabora, Ltd.
2
-
// SPDX-License-Identifier: BSL-1.0
3
-
/*!
4
-
* @file
5
-
* @brief Visual-Intertial Tracking tracker helper.
6
-
* @author Jakob Bornecrantz <jakob@collabora.com>
7
-
* @author Simon Zeni <simon.zeni@collabora.com>
8
-
*/
9
-
10
-
#pragma once
11
-
12
-
#include "vit_interface.h"
13
-
14
-
15
-
namespace vit {
16
-
17
-
typedef vit_result_t Result;
18
-
typedef vit_image_format_t ImageFormat;
19
-
typedef vit_camera_distortion_t CameraDistortion;
20
-
typedef vit_tracker_capability_t TrackerCapability;
21
-
typedef vit_tracker_pose_capability_t TrackerPoseCapability;
22
-
typedef vit_tracker_timing_titles TrackerTimingTitles;
23
-
typedef vit_tracker_t Tracker;
24
-
typedef vit_config_t Config;
25
-
typedef vit_pose_t Pose;
26
-
typedef vit_config_t Config;
27
-
typedef vit_imu_sample_t ImuSample;
28
-
typedef vit_mask_t Mask;
29
-
typedef vit_img_sample_t ImgSample;
30
-
typedef vit_pose_data_t PoseData;
31
-
typedef vit_pose_timing_t PoseTiming;
32
-
typedef vit_pose_feature_t PoseFeature;
33
-
typedef vit_pose_features_t PoseFeatures;
34
-
typedef vit_camera_calibration_t CameraCalibration;
35
-
typedef vit_inertial_calibration_t InertialCalibration;
36
-
typedef vit_imu_calibration_t ImuCalibration;
37
-
38
-
} // namespace vit
39
-
40
-
extern "C" {
41
-
42
-
struct vit_tracker
43
-
{
44
-
virtual ~vit_tracker() = default;
45
-
46
-
virtual vit_result_t has_image_format(const vit_image_format_t fmt, bool *out_supported) const = 0;
47
-
virtual vit_result_t get_capabilities(vit_tracker_capability_t *out_capabilities) const = 0;
48
-
virtual vit_result_t get_pose_capabilities(vit_tracker_pose_capability_t *out_capabilities) const = 0;
49
-
virtual vit_result_t set_pose_capabilities(const vit_tracker_pose_capability_t capabilities, bool value) = 0;
50
-
virtual vit_result_t start() = 0;
51
-
virtual vit_result_t stop() = 0;
52
-
virtual vit_result_t reset() = 0;
53
-
virtual vit_result_t is_running(bool *out_running) const = 0;
54
-
virtual vit_result_t add_imu_calibration(const vit_imu_calibration_t *calibration) = 0;
55
-
virtual vit_result_t add_camera_calibration(const vit_camera_calibration_t *calibration) = 0;
56
-
virtual vit_result_t push_imu_sample(const vit_imu_sample_t *sample) = 0;
57
-
virtual vit_result_t push_img_sample(const vit_img_sample_t *sample) = 0;
58
-
virtual vit_result_t pop_pose(vit_pose_t **pose) = 0;
59
-
virtual vit_result_t get_timing_titles(vit_tracker_timing_titles *out_titles) const = 0;
60
-
};
61
-
62
-
struct vit_pose
63
-
{
64
-
virtual ~vit_pose() = default;
65
-
66
-
virtual vit_result_t get_data(vit_pose_data *out_data) const = 0;
67
-
virtual vit_result_t get_timing(vit_pose_timing *out_timing) const = 0;
68
-
virtual vit_result_t get_features(uint32_t camera_index, vit_pose_features_t *out_features) const = 0;
69
-
};
70
-
71
-
#ifdef VIT_INTERFACE_IMPLEMENTATION
72
-
73
-
vit_result_t
74
-
vit_api_get_version(uint32_t *out_major, uint32_t *out_minor, uint32_t *out_patch)
75
-
{
76
-
*out_major = VIT_HEADER_VERSION_MAJOR;
77
-
*out_minor = VIT_HEADER_VERSION_MINOR;
78
-
*out_patch = VIT_HEADER_VERSION_PATCH;
79
-
return VIT_SUCCESS;
80
-
}
81
-
82
-
void
83
-
vit_tracker_destroy(vit_tracker_t *tracker)
84
-
{
85
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
86
-
delete t;
87
-
}
88
-
89
-
vit_result_t
90
-
vit_tracker_has_image_format(const vit_tracker_t *tracker, const vit_image_format_t image_format, bool *out_supported)
91
-
{
92
-
const vit::Tracker *t = static_cast<const vit::Tracker *>(tracker);
93
-
return t->has_image_format(image_format, out_supported);
94
-
}
95
-
96
-
vit_result_t
97
-
vit_tracker_get_capabilities(const vit_tracker_t *tracker, vit_tracker_capability_t *out_caps)
98
-
{
99
-
const vit::Tracker *t = static_cast<const vit::Tracker *>(tracker);
100
-
return t->get_capabilities(out_caps);
101
-
}
102
-
103
-
vit_result_t
104
-
vit_tracker_get_pose_capabilities(const vit_tracker_t *tracker, vit_tracker_pose_capability_t *out_caps)
105
-
{
106
-
const vit::Tracker *t = static_cast<const vit::Tracker *>(tracker);
107
-
return t->get_pose_capabilities(out_caps);
108
-
}
109
-
110
-
vit_result_t
111
-
vit_tracker_set_pose_capabilities(vit_tracker_t *tracker, vit_tracker_pose_capability_t caps, bool value)
112
-
{
113
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
114
-
return t->set_pose_capabilities(caps, value);
115
-
}
116
-
117
-
vit_result_t
118
-
vit_tracker_start(vit_tracker_t *tracker)
119
-
{
120
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
121
-
return t->start();
122
-
}
123
-
124
-
vit_result_t
125
-
vit_tracker_stop(vit_tracker_t *tracker)
126
-
{
127
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
128
-
return t->stop();
129
-
}
130
-
131
-
vit_result_t
132
-
vit_tracker_reset(vit_tracker_t *tracker)
133
-
{
134
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
135
-
return t->reset();
136
-
}
137
-
138
-
vit_result_t
139
-
vit_tracker_is_running(const vit_tracker *tracker, bool *out_running)
140
-
{
141
-
const vit::Tracker *t = static_cast<const vit::Tracker *>(tracker);
142
-
return t->is_running(out_running);
143
-
}
144
-
145
-
vit_result_t
146
-
vit_tracker_push_imu_sample(vit_tracker *tracker, const vit_imu_sample_t *sample)
147
-
{
148
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
149
-
return t->push_imu_sample(sample);
150
-
}
151
-
152
-
vit_result_t
153
-
vit_tracker_push_img_sample(vit_tracker *tracker, const vit_img_sample_t *sample)
154
-
{
155
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
156
-
return t->push_img_sample(sample);
157
-
}
158
-
159
-
vit_result_t
160
-
vit_tracker_add_imu_calibration(vit_tracker_t *tracker, const vit_imu_calibration_t *calibration)
161
-
{
162
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
163
-
return t->add_imu_calibration(calibration);
164
-
}
165
-
166
-
vit_result_t
167
-
vit_tracker_add_camera_calibration(vit_tracker_t *tracker, const vit_camera_calibration_t *calibration)
168
-
{
169
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
170
-
return t->add_camera_calibration(calibration);
171
-
}
172
-
173
-
vit_result_t
174
-
vit_tracker_pop_pose(vit_tracker_t *tracker, vit_pose_t **out_pose)
175
-
{
176
-
vit::Tracker *t = static_cast<vit::Tracker *>(tracker);
177
-
return t->pop_pose(out_pose);
178
-
}
179
-
180
-
vit_result_t
181
-
vit_tracker_get_timing_titles(const vit_tracker_t *tracker, vit_tracker_timing_titles *out_titles)
182
-
{
183
-
const vit::Tracker *t = static_cast<const vit::Tracker *>(tracker);
184
-
return t->get_timing_titles(out_titles);
185
-
}
186
-
187
-
void
188
-
vit_pose_destroy(vit_pose_t *pose)
189
-
{
190
-
vit::Pose *p = static_cast<vit::Pose *>(pose);
191
-
delete p;
192
-
}
193
-
194
-
vit_result_t
195
-
vit_pose_get_data(const vit_pose_t *pose, vit_pose_data_t *out_data)
196
-
{
197
-
const vit::Pose *p = static_cast<const vit::Pose *>(pose);
198
-
return p->get_data(out_data);
199
-
}
200
-
201
-
vit_result_t
202
-
vit_pose_get_timing(const vit_pose_t *pose, vit_pose_timing_t *out_timing)
203
-
{
204
-
const vit::Pose *p = static_cast<const vit::Pose *>(pose);
205
-
return p->get_timing(out_timing);
206
-
}
207
-
208
-
vit_result_t
209
-
vit_pose_get_features(const vit_pose_t *pose, uint32_t camera_index, vit_pose_features_t *out_features)
210
-
{
211
-
const vit::Pose *p = static_cast<const vit::Pose *>(pose);
212
-
return p->get_features(camera_index, out_features);
213
-
}
214
-
215
-
#endif
216
-
}
+63
-83
src/external/vit_includes/vit/vit_interface.h
+63
-83
src/external/vit_includes/vit/vit_interface.h
···
1
-
// Copyright 2023, Collabora, Ltd.
1
+
// Copyright 2023-2024, Collabora, Ltd.
2
2
// SPDX-License-Identifier: BSL-1.0
3
3
/*!
4
4
* @file
···
8
8
* @author Jakob Bornecrantz <jakob@collabora.com>
9
9
*
10
10
* This file contains the declaration of the @ref vit_tracker struct. This
11
-
* header is intended to appear in both Monado and external SLAM systems. The
12
-
* implementation of `vit_interface` is provided by the external system.
13
-
* Additional data types are declared for the communication between Monado and
14
-
* the system.
11
+
* header is intended to appear in both consumers (e.g., Monado) and external
12
+
* visual-inertial tracking (VIT) systems (e.g., Basalt). The implementation of
13
+
* `vit_interface` is provided by the external system. Additional data types are
14
+
* declared for the communication between consumers and the system.
15
15
*/
16
16
17
17
#pragma once
···
20
20
extern "C" {
21
21
#endif
22
22
23
-
#include <stdint.h>
24
23
#include <stdbool.h>
24
+
#include <stdint.h>
25
25
26
-
// For implementation: same as IMPLEMENTATION_VERSION_*
27
-
// For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
26
+
//! Compatibility with these values should be checked against @ref vit_api_get_version.
28
27
#define VIT_HEADER_VERSION_MAJOR 1 //!< API Breakages
29
28
#define VIT_HEADER_VERSION_MINOR 0 //!< Backwards compatible API changes
30
-
#define VIT_HEADER_VERSION_PATCH 0 //!< Backw. comp. .h-implemented changes
29
+
#define VIT_HEADER_VERSION_PATCH 1 //!< Backw. comp. .h-implemented changes
30
+
31
+
#define VIT_CAMERA_CALIBRATION_DISTORTION_MAX_COUNT 32
31
32
32
33
/*!
33
34
* Result type used by the VIT system
34
35
*
35
36
* 0 is @ref VIT_SUCCESS, positive values are non fatal results and negative values are errors.
36
37
*/
37
-
typedef enum vit_result
38
-
{
38
+
typedef enum vit_result {
39
39
/*!
40
40
* Operation suceeded
41
41
*/
···
70
70
/*!
71
71
* Image formats.
72
72
*/
73
-
typedef enum vit_image_format
74
-
{
73
+
typedef enum vit_image_format {
75
74
//! 8-bit luminance
76
75
VIT_IMAGE_FORMAT_L8 = 1,
77
76
//! 16-bit luminance
···
83
82
/*!
84
83
* Camera calibration types.
85
84
*/
86
-
typedef enum vit_camera_distortion
87
-
{
85
+
typedef enum vit_camera_distortion {
88
86
//! No distortion (pre-disotorted).
89
87
VIT_CAMERA_DISTORTION_NONE,
90
88
//! Distortion radial-tangential (OpenCV), 4 parameters.
···
100
98
/*!
101
99
* Capabilities of the tracker.
102
100
*/
103
-
typedef enum vit_tracker_capability
104
-
{
101
+
typedef enum vit_tracker_capability {
105
102
//! Does the tracker support per pose (frame) timing data.
106
103
VIT_TRACKER_CAPABILITY_CAMERA_CALIBRATION = 1 << 0,
107
104
//! Does the tracker support per pose (frame) and per camera features.
···
111
108
/*!
112
109
* Capabilities of the poses that this tracker produces.
113
110
*/
114
-
typedef enum vit_tracker_pose_capability
115
-
{
111
+
typedef enum vit_tracker_pose_capability {
116
112
//! Does the tracker support per pose (frame) timing data.
117
113
VIT_TRACKER_POSE_CAPABILITY_TIMING = 1 << 0,
118
114
//! Does the tracker support per pose (frame) and per camera features.
···
134
130
/*!
135
131
* @brief Names of the timestamps returned by `vit_pose_get_timings`
136
132
*/
137
-
typedef struct vit_tracker_timing_titles
138
-
{
139
-
uint32_t count; //! Number of titles
133
+
typedef struct vit_tracker_timing_titles {
134
+
uint32_t count; //! Number of titles
140
135
const char **titles; //! Names of the measures timestamps
141
136
} vit_tracker_timing_titles;
142
137
···
174
169
/*!
175
170
* Region in image space that this mask covers.
176
171
*/
177
-
typedef struct vit_mask
178
-
{
172
+
typedef struct vit_mask {
179
173
//! In pixels.
180
174
float x, y, w, h;
181
175
} vit_mask_t;
···
253
247
typedef struct vit_camera_calibration {
254
248
uint32_t camera_index; // <! For multi-camera setup. For stereo 0 ~ left, 1 ~ right.
255
249
256
-
int width, height; //<! Resolution
257
-
double frequency; //<! Frames per second
258
-
double fx, fy; //<! Focal point
259
-
double cx, cy; //<! Principal point
250
+
int width, height; //<! Resolution
251
+
double frequency; //<! Frames per second
252
+
double fx, fy; //<! Focal point
253
+
double cx, cy; //<! Principal point
260
254
enum vit_camera_distortion model;
261
255
uint32_t distortion_count;
262
-
double distortion[32]; //!< Parameters for the distortion model
263
-
double transform[16]; //!< Row-major 4x4 camera transform w.r.t. the IMU (i.e., T_imu_cam)
256
+
double distortion[VIT_CAMERA_CALIBRATION_DISTORTION_MAX_COUNT]; //!< Parameters for the distortion model
257
+
double transform[4 * 4]; //!< Row-major 4x4 camera transform w.r.t. the IMU (i.e., T_imu_cam)
264
258
} vit_camera_calibration_t;
265
259
266
260
typedef struct vit_inertial_calibration {
267
261
// Calibration intrinsics to apply to each raw measurement.
268
262
269
263
//! Row major 3x3 linear transformation for raw measurements alignment and scaling.
270
-
double transform[9];
264
+
double transform[3 * 3];
271
265
272
266
//! Offset to add to raw measurements; called bias in other contexts.
273
267
double offset[3];
···
297
291
struct vit_inertial_calibration gyro;
298
292
} vit_imu_calibration_t;
299
293
300
-
301
294
/*
302
295
*
303
296
* Function prototypes.
···
307
300
typedef vit_result_t (*PFN_vit_api_get_version)(uint32_t *out_major, uint32_t *out_minor, uint32_t *out_patch);
308
301
typedef vit_result_t (*PFN_vit_tracker_create)(const vit_config_t *config, vit_tracker_t **out_tracker);
309
302
typedef void (*PFN_vit_tracker_destroy)(vit_tracker_t *tracker);
310
-
typedef vit_result_t (*PFN_vit_tracker_has_image_format)(const vit_tracker_t *tracker, const vit_image_format_t image_format, bool *out_supported);
311
-
typedef vit_result_t (*PFN_vit_tracker_get_capabilities)(const vit_tracker_t *tracker, vit_tracker_capability_t *out_caps);
312
-
typedef vit_result_t (*PFN_vit_tracker_get_pose_capabilities)(const vit_tracker_t *tracker, vit_tracker_pose_capability_t *out_caps);
313
-
typedef vit_result_t (*PFN_vit_tracker_set_pose_capabilities)(vit_tracker_t *tracker, const vit_tracker_pose_capability_t caps, bool value);
303
+
typedef vit_result_t (*PFN_vit_tracker_has_image_format)(const vit_tracker_t *tracker, vit_image_format_t image_format,
304
+
bool *out_supported);
305
+
typedef vit_result_t (*PFN_vit_tracker_get_capabilities)(const vit_tracker_t *tracker,
306
+
vit_tracker_capability_t *out_caps);
307
+
typedef vit_result_t (*PFN_vit_tracker_get_pose_capabilities)(const vit_tracker_t *tracker,
308
+
vit_tracker_pose_capability_t *out_caps);
309
+
typedef vit_result_t (*PFN_vit_tracker_set_pose_capabilities)(vit_tracker_t *tracker,
310
+
vit_tracker_pose_capability_t caps, bool value);
314
311
typedef vit_result_t (*PFN_vit_tracker_start)(vit_tracker_t *tracker);
315
312
typedef vit_result_t (*PFN_vit_tracker_stop)(vit_tracker_t *tracker);
316
313
typedef vit_result_t (*PFN_vit_tracker_reset)(vit_tracker_t *tracker);
317
314
typedef vit_result_t (*PFN_vit_tracker_is_running)(const vit_tracker_t *tracker, bool *out_bool);
318
315
typedef vit_result_t (*PFN_vit_tracker_push_imu_sample)(vit_tracker_t *tracker, const vit_imu_sample_t *sample);
319
316
typedef vit_result_t (*PFN_vit_tracker_push_img_sample)(vit_tracker_t *tracker, const vit_img_sample_t *sample);
320
-
typedef vit_result_t (*PFN_vit_tracker_add_imu_calibration)(vit_tracker_t *tracker, const vit_imu_calibration_t *calibration);
321
-
typedef vit_result_t (*PFN_vit_tracker_add_camera_calibration)(vit_tracker_t *tracker, const vit_camera_calibration_t *calibration);
317
+
typedef vit_result_t (*PFN_vit_tracker_add_imu_calibration)(vit_tracker_t *tracker,
318
+
const vit_imu_calibration_t *calibration);
319
+
typedef vit_result_t (*PFN_vit_tracker_add_camera_calibration)(vit_tracker_t *tracker,
320
+
const vit_camera_calibration_t *calibration);
322
321
typedef vit_result_t (*PFN_vit_tracker_pop_pose)(vit_tracker_t *tracker, vit_pose_t **out_pose);
323
-
typedef vit_result_t (*PFN_vit_tracker_get_timing_titles)(const vit_tracker_t *tracker, vit_tracker_timing_titles *out_titles);
322
+
typedef vit_result_t (*PFN_vit_tracker_get_timing_titles)(const vit_tracker_t *tracker,
323
+
vit_tracker_timing_titles *out_titles);
324
324
typedef void (*PFN_vit_pose_destroy)(vit_pose_t *pose);
325
325
typedef vit_result_t (*PFN_vit_pose_get_data)(const vit_pose_t *pose, vit_pose_data_t *out_data);
326
326
typedef vit_result_t (*PFN_vit_pose_get_timing)(const vit_pose_t *pose, vit_pose_timing_t *out_timing);
327
-
typedef vit_result_t (*PFN_vit_pose_get_features)(const vit_pose_t *pose, uint32_t camera_index, vit_pose_features_t *out_features);
328
-
327
+
typedef vit_result_t (*PFN_vit_pose_get_features)(const vit_pose_t *pose, uint32_t camera_index,
328
+
vit_pose_features_t *out_features);
329
329
330
330
/*
331
331
*
···
338
338
/*!
339
339
* @brief Returns the API version implemented by the VIT system.
340
340
*/
341
-
vit_result_t
342
-
vit_api_get_version(uint32_t *out_major, uint32_t *out_minor, uint32_t *out_patch);
341
+
vit_result_t vit_api_get_version(uint32_t *out_major, uint32_t *out_minor, uint32_t *out_patch);
343
342
344
343
/*!
345
344
* @brief Creates a new VIT tracker. The caller is responsible of destroying it when done.
346
345
*/
347
-
vit_result_t
348
-
vit_tracker_create(const vit_config_t *config, vit_tracker_t **out_tracker);
346
+
vit_result_t vit_tracker_create(const vit_config_t *config, vit_tracker_t **out_tracker);
349
347
350
348
/*!
351
349
* @brief Destroys the VIT tracker and free all resources allocated.
352
350
*/
353
-
void
354
-
vit_tracker_destroy(vit_tracker_t *tracker);
351
+
void vit_tracker_destroy(vit_tracker_t *tracker);
355
352
356
353
/*!
357
354
* @brief Verifies if the tracker supports a given `vit_image_format_t`.
358
355
*/
359
-
vit_result_t
360
-
vit_tracker_has_image_format(const vit_tracker_t *tracker, const vit_image_format_t image_format, bool *out_supported);
356
+
vit_result_t vit_tracker_has_image_format(const vit_tracker_t *tracker, vit_image_format_t image_format,
357
+
bool *out_supported);
361
358
362
359
/*!
363
360
* @brief Returns a bitfield of capabilities supported by the tracker.
···
365
362
* @see vit_tracker_capability_t
366
363
*/
367
364
368
-
vit_result_t
369
-
vit_tracker_get_capabilities(const vit_tracker_t *tracker, vit_tracker_capability_t *out_caps);
365
+
vit_result_t vit_tracker_get_capabilities(const vit_tracker_t *tracker, vit_tracker_capability_t *out_caps);
370
366
371
367
/*!
372
368
* @brief Returns a bitfield of pose capabilities supported by the tracker.
373
369
*
374
370
* @see vit_tracker_pose_capability_t
375
371
*/
376
-
vit_result_t
377
-
vit_tracker_get_pose_capabilities(const vit_tracker_t *tracker, vit_tracker_pose_capability_t *out_caps);
372
+
vit_result_t vit_tracker_get_pose_capabilities(const vit_tracker_t *tracker, vit_tracker_pose_capability_t *out_caps);
378
373
379
374
/*!
380
375
* @brief Enables or disables multiple tracker pose capabilities.
···
383
378
*
384
379
* @see vit_tracker_pose_capability_t
385
380
*/
386
-
vit_result_t
387
-
vit_tracker_set_pose_capabilities(vit_tracker_t *tracker, const vit_tracker_pose_capability_t caps, bool value);
381
+
vit_result_t vit_tracker_set_pose_capabilities(vit_tracker_t *tracker, vit_tracker_pose_capability_t caps, bool value);
388
382
389
383
/*!
390
384
* @brief Starts the VIT tracker. Image and IMU samples can be pushed and pose can be retrieved.
391
385
*
392
386
* This function must be non blocking. The VIT system implementing it is expected to start its own event loop.
393
387
*/
394
-
vit_result_t
395
-
vit_tracker_start(vit_tracker_t *tracker);
388
+
vit_result_t vit_tracker_start(vit_tracker_t *tracker);
396
389
397
390
/*!
398
391
* @brief Stops the VIT tracker. The tracker wont accept image and IMU samples, and will not return poses.
399
392
*/
400
-
vit_result_t
401
-
vit_tracker_stop(vit_tracker_t *tracker);
393
+
vit_result_t vit_tracker_stop(vit_tracker_t *tracker);
402
394
403
395
/*!
404
396
* @brief Resets the VIT tracker. The tracker internal state will be set to its original state.
405
397
*/
406
-
vit_result_t
407
-
vit_tracker_reset(vit_tracker_t *tracker);
398
+
vit_result_t vit_tracker_reset(vit_tracker_t *tracker);
408
399
409
400
/*!
410
401
* @brief Verifies if the tracker is running.
411
402
*/
412
-
vit_result_t
413
-
vit_tracker_is_running(const vit_tracker_t *tracker, bool *out_bool);
403
+
vit_result_t vit_tracker_is_running(const vit_tracker_t *tracker, bool *out_bool);
414
404
415
405
/*!
416
406
* @brief Push an IMU sample into the tracker.
···
420
410
* The implementation must be non-blocking.
421
411
* Thus, a separate consumer thread should process the samples.
422
412
*/
423
-
vit_result_t
424
-
vit_tracker_push_imu_sample(vit_tracker_t *tracker, const vit_imu_sample_t *sample);
413
+
vit_result_t vit_tracker_push_imu_sample(vit_tracker_t *tracker, const vit_imu_sample_t *sample);
425
414
426
415
/*!
427
416
* @brief Push an image sample into the tracker.
···
430
419
* When using N>1 cameras, the N frames must be pushed following @ref cam_index order.
431
420
* The bundle of N frames must have the same timestamps.
432
421
*/
433
-
vit_result_t
434
-
vit_tracker_push_img_sample(vit_tracker_t *tracker, const vit_img_sample_t *sample);
422
+
vit_result_t vit_tracker_push_img_sample(vit_tracker_t *tracker, const vit_img_sample_t *sample);
435
423
436
424
/*!
437
425
* @brief Adds an inertial measurement unit calibration to the tracker. The tracker must not be started.
···
441
429
* @see vit_tracker_get_capabilities
442
430
* @see vit_tracker_capability_t
443
431
*/
444
-
vit_result_t
445
-
vit_tracker_add_imu_calibration(vit_tracker_t *tracker, const vit_imu_calibration_t *calibration);
432
+
vit_result_t vit_tracker_add_imu_calibration(vit_tracker_t *tracker, const vit_imu_calibration_t *calibration);
446
433
447
434
/*!
448
435
* @brief Adds a camera calibration to the tracker. The tracker must not be started.
···
452
439
* @see vit_tracker_get_capabilities
453
440
* @see vit_tracker_capability_t
454
441
*/
455
-
vit_result_t
456
-
vit_tracker_add_camera_calibration(vit_tracker_t *tracker, const vit_camera_calibration_t *calibration);
442
+
vit_result_t vit_tracker_add_camera_calibration(vit_tracker_t *tracker, const vit_camera_calibration_t *calibration);
457
443
458
444
/*!
459
445
* @brief Get the pose from the front of the tracking queue from the VIT tracker
···
464
450
*
465
451
* @param[out] out_pose Pose returned to the caller, NULL if there is not pose available or on error.
466
452
*/
467
-
vit_result_t
468
-
vit_tracker_pop_pose(vit_tracker_t *tracker, vit_pose_t **out_pose);
453
+
vit_result_t vit_tracker_pop_pose(vit_tracker_t *tracker, vit_pose_t **out_pose);
469
454
470
455
/*!
471
456
* @brief Get the titles of the timestamps measured by the pose timings.
472
457
*
473
458
* Returns `VIT_ERROR_NOT_SUPPORTED` if the tracker doesn't offer the pose timing capability.
474
459
*/
475
-
vit_result_t
476
-
vit_tracker_get_timing_titles(const vit_tracker_t *tracker, vit_tracker_timing_titles *out_titles);
460
+
vit_result_t vit_tracker_get_timing_titles(const vit_tracker_t *tracker, vit_tracker_timing_titles *out_titles);
477
461
478
462
/*!
479
463
* @brief Destroys a pose. All of the data, timing and features associated to it will be invalidated.
480
464
*/
481
-
void
482
-
vit_pose_destroy(vit_pose_t *pose);
465
+
void vit_pose_destroy(vit_pose_t *pose);
483
466
484
467
/*!
485
468
* @brief Gets the data form a given `vit_pose_t`.
486
469
*
487
470
* The data becomes invalid when the associated pose gets destroyed.
488
471
*/
489
-
vit_result_t
490
-
vit_pose_get_data(const vit_pose_t *pose, vit_pose_data_t *out_data);
472
+
vit_result_t vit_pose_get_data(const vit_pose_t *pose, vit_pose_data_t *out_data);
491
473
492
474
/*!
493
475
* @brief Gets the timing form a given `vit_pose_t`.
494
476
*
495
477
* The timing data becomes invalid when the associated pose gets destroyed.
496
478
*/
497
-
vit_result_t
498
-
vit_pose_get_timing(const vit_pose_t *pose, vit_pose_timing_t *out_timing);
479
+
vit_result_t vit_pose_get_timing(const vit_pose_t *pose, vit_pose_timing_t *out_timing);
499
480
500
481
/*!
501
482
* @brief Gets the features form a given `vit_pose_t`.
502
483
*
503
484
* The features data becomes invalid when the associated pose gets destroyed.
504
485
*/
505
-
vit_result_t
506
-
vit_pose_get_features(const vit_pose_t *pose, uint32_t camera_index, vit_pose_features_t *out_features);
486
+
vit_result_t vit_pose_get_features(const vit_pose_t *pose, uint32_t camera_index, vit_pose_features_t *out_features);
507
487
508
488
#endif
509
489