The open source OpenXR runtime
st/prober: Hook the realsense SLAM source into the prober
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
f4075362
f84629cc
+51
+16
src/xrt/state_trackers/prober/p_prober.c
+16
src/xrt/state_trackers/prober/p_prober.c
···
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#include "euroc/euroc_interface.h"
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#endif
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#ifdef XRT_BUILD_DRIVER_RS
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#include "realsense/rs_interface.h"
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#endif
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#ifdef XRT_BUILD_DRIVER_REMOTE
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#include "remote/r_interface.h"
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#endif
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DEBUG_GET_ONCE_BOOL_OPTION(qwerty_combine, "QWERTY_COMBINE", false)
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DEBUG_GET_ONCE_OPTION(vf_path, "VF_PATH", NULL)
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DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
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DEBUG_GET_ONCE_NUM_OPTION(rs_source_index, "RS_SOURCE_INDEX", -1)
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/*
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}
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#endif
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#if defined(XRT_BUILD_DRIVER_RS)
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int rs_source_index = debug_get_num_option_rs_source_index();
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if (rs_source_index != -1) {
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*out_xfs = rs_source_create(xfctx, rs_source_index);
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return 0;
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}
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#endif
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#if defined(XRT_HAVE_V4L2)
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if (pdev->num_v4ls == 0) {
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return -1;
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// Video sources from drivers (at most one will be listed)
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const char *vf_path = debug_get_option_vf_path();
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const char *euroc_path = debug_get_option_euroc_path();
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int rs_source_index = debug_get_num_option_rs_source_index();
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if (vf_path != NULL) {
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cb(xp, NULL, "Video File", "Collabora", vf_path, ptr);
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} else if (euroc_path != NULL) {
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cb(xp, NULL, "Euroc Dataset", "Collabora", euroc_path, ptr);
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} else if (rs_source_index != -1) {
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cb(xp, NULL, "RealSense Source", "Collabora", "", ptr);
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}
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// Video sources from video devices
+35
src/xrt/state_trackers/prober/p_tracking.c
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src/xrt/state_trackers/prober/p_tracking.c
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DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
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#endif
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#ifdef XRT_BUILD_DRIVER_RS
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#include "util/u_debug.h"
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DEBUG_GET_ONCE_NUM_OPTION(rs_source_index, "RS_SOURCE_INDEX", -1)
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#endif
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/*
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*
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* Structs and defines.
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static bool
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p_factory_ensure_slam_frameserver(struct p_factory *fact)
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{
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//! @todo The check for (XRT_HAVE_SLAM && XRT_BUILD_DRIVER_* &&
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//! debug_flag_is_correct) is getting duplicated in: p_open_video_device,
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//! p_list_video_devices, and p_factory_ensure_slam_frameserver (here) with
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//! small differences. Incorrectly modifying one will mess the others.
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// Factory frameserver is already in use
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if (fact->xfs != NULL) {
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return false;
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}
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#else
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U_LOG_W("SLAM tracking support is disabled, the Euroc driver will not be tracked");
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#endif
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xrt_fs_slam_stream_start(fact->xfs, sinks);
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return true;
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}
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#endif
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// SLAM tracker with RealSense frameserver
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#ifdef XRT_BUILD_DRIVER_RS
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if (debug_get_num_option_rs_source_index() != -1) {
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struct xrt_slam_sinks empty_sinks = {0};
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struct xrt_slam_sinks *sinks = &empty_sinks;
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xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
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assert(fact->xfs->source_id == 0x2EA15E115E && "xfs is not RealSense, unsynced open_video_device?");
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#ifdef XRT_HAVE_SLAM
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int ret = t_slam_create(&fact->xfctx, &fact->xts, &sinks);
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if (ret != 0) {
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U_LOG_W("Unable to initialize SLAM tracking, the RealSense driver will not be tracked");
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}
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#else
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U_LOG_W("SLAM tracking support is disabled, the RealSense driver will not be tracked by host SLAM");
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#endif
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xrt_fs_slam_stream_start(fact->xfs, sinks);