From 5fd73ea70c6f9830349e18fa96c2b82ace61a5a8 Mon Sep 17 00:00:00 2001 From: Mateo de Mayo <mateo.demayo@collabora.com> Date: Wed, 23 Aug 2023 13:53:55 -0300 Subject: [PATCH] external/slam: Update to 7.0.0 with RESET_TRACKER_STATE and ignore masks --- src/external/slam_tracker/slam_tracker.hpp | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/src/external/slam_tracker/slam_tracker.hpp b/src/external/slam_tracker/slam_tracker.hpp index 10b7951f8..ca46a6384 100644 --- a/src/external/slam_tracker/slam_tracker.hpp +++ b/src/external/slam_tracker/slam_tracker.hpp @@ -29,7 +29,7 @@ namespace xrt::auxiliary::tracking::slam { // For implementation: same as IMPLEMENTATION_VERSION_* // For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime. -constexpr int HEADER_VERSION_MAJOR = 6; //!< API Breakages +constexpr int HEADER_VERSION_MAJOR = 7; //!< API Breakages constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes @@ -61,6 +61,10 @@ struct pose { find_pose_extension(pose_ext_type required_type) const; }; +struct rect { + float x, y, w, h; +}; + /*! * @brief IMU Sample type to pass around between programs */ @@ -82,6 +86,7 @@ struct img_sample { std::int64_t timestamp; cv::Mat img; int cam_index; + std::vector<rect> masks{}; //!< Masks to ignore img_sample() = default; img_sample(std::int64_t timestamp, const cv::Mat &img, int cam_index) : timestamp(timestamp), img(img), cam_index(cam_index) {} @@ -274,6 +279,13 @@ DEFINE_FEATURE(ENABLE_POSE_EXT_TIMING, EPET, 3, bool, std::vector<std::string>) */ DEFINE_FEATURE(ENABLE_POSE_EXT_FEATURES, EPEF, 4, bool, void) +/*! + * Feature RESET_TRACKER_STATE + * + * Reset tracker state. + */ +DEFINE_FEATURE(RESET_TRACKER_STATE, RS, 5, void, void) + /* * Pose extensions *