The open source OpenXR runtime
t/slam: Recover fallback measurements for systems without timing extension
Fixes #235
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
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b666b8b0
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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-4
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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gt_ui_push(t, nts, rel.pose);
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t.slam_traj_writer->push(nts, rel.pose);
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if (t.timing.ext_enabled) {
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auto tss = timing_ui_push(t, np);
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t.slam_times_writer->push(tss);
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}
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// Push even if timing extension is disabled
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auto tss = timing_ui_push(t, np);
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t.slam_times_writer->push(tss);
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if (t.features.ext_enabled) {
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vector feat_count = features_ui_push(t, np);