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aux/tracking: introduce VIT loader

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This commit is contained in:
Simon Zeni 2023-12-08 12:33:28 -05:00
parent c6e629b4e7
commit 66027fc989
3 changed files with 189 additions and 2 deletions
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13
src/xrt/auxiliary/tracking/CMakeLists.txt
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@ -62,8 +62,17 @@ if(XRT_HAVE_OPENCV)
endif()
if(XRT_FEATURE_SLAM)
target_sources(aux_tracking PRIVATE t_tracker_slam.cpp)
target_link_libraries(aux_tracking PRIVATE xrt-external-slam)
target_sources(aux_tracking
PRIVATE
t_vit_loader.c
t_tracker_slam.cpp
)
target_link_libraries(aux_tracking
PRIVATE
xrt-external-slam
xrt-external-vit
${CMAKE_DL_LIBS}
)
endif()
if(XRT_HAVE_OPENVR)

101
src/xrt/auxiliary/tracking/t_vit_loader.c Normal file
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@ -0,0 +1,101 @@
// Copyright 2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Visual-Intertial Tracking consumer helper.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Simon Zeni <simon.zeni@collabora.com>
* @ingroup aux_tracking
*/
#include "xrt/xrt_config_os.h"
#include "tracking/t_vit_loader.h"
#include "util/u_logging.h"
#include <stdlib.h>
#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
#include <dlfcn.h>
#endif
static inline void
vit_get_proc(void *handle, const char *name, void *proc_ptr)
{
#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
void *proc = dlsym(handle, name);
char *err = dlerror();
if (err != NULL) {
U_LOG_E("Failed to load symbol %s", err);
return;
}
*(void **)proc_ptr = proc;
#else
#error "Unknown platform"
#endif
}
bool
t_vit_bundle_load(struct t_vit_bundle *vit, const char *path)
{
#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
vit->handle = dlopen(path, RTLD_LAZY);
if (vit->handle == NULL) {
U_LOG_E("Failed to open VIT library: %s", dlerror());
return false;
}
#else
#error "Unknown platform"
#endif
#define GET_PROC(SYM) \
do { \
vit_get_proc(vit->handle, "vit_" #SYM, &vit->SYM); \
} while (0)
// Get the version first.
GET_PROC(api_get_version);
vit->api_get_version(&vit->version.major, &vit->version.minor, &vit->version.patch);
// Check major version.
if (vit->version.major != VIT_HEADER_VERSION_MAJOR) {
U_LOG_E("Incompatible major version (supports %u) was: %u.%u.%u", VIT_HEADER_VERSION_MAJOR,
vit->version.major, vit->version.minor, vit->version.patch);
dlclose(vit->handle);
return false;
}
GET_PROC(tracker_create);
GET_PROC(tracker_destroy);
GET_PROC(tracker_has_image_format);
GET_PROC(tracker_get_capabilities);
GET_PROC(tracker_get_pose_capabilities);
GET_PROC(tracker_set_pose_capabilities);
GET_PROC(tracker_start);
GET_PROC(tracker_stop);
GET_PROC(tracker_reset);
GET_PROC(tracker_is_running);
GET_PROC(tracker_push_imu_sample);
GET_PROC(tracker_push_img_sample);
GET_PROC(tracker_add_imu_calibration);
GET_PROC(tracker_add_camera_calibration);
GET_PROC(tracker_pop_pose);
GET_PROC(tracker_get_timing_titles);
GET_PROC(pose_destroy);
GET_PROC(pose_get_data);
GET_PROC(pose_get_timing);
GET_PROC(pose_get_features);
#undef GET_PROC
return true;
}
void
t_vit_bundle_unload(struct t_vit_bundle *vit)
{
#if defined(XRT_OS_LINUX) || defined(XRT_OS_ANDROID)
dlclose(vit->handle);
#else
#error "Unknown platform"
#endif
}

77
src/xrt/auxiliary/tracking/t_vit_loader.h Normal file
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@ -0,0 +1,77 @@
// Copyright 2023, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
* @brief Visual-Intertial Tracking consumer helper.
* @author Jakob Bornecrantz <jakob@collabora.com>
* @author Simon Zeni <simon.zeni@collabora.com>
* @ingroup aux_tracking
*/
#pragma once
#include "vit/vit_interface.h"
#ifdef __cplusplus
extern "C" {
#endif
/*!
* A bundle of VIT interface functions, used by the tracking interface loader.
*
* @ingroup aux_tracking
*/
struct t_vit_bundle
{
void *handle;
struct
{
uint32_t major;
uint32_t minor;
uint32_t patch;
} version;
PFN_vit_api_get_version api_get_version;
PFN_vit_tracker_create tracker_create;
PFN_vit_tracker_destroy tracker_destroy;
PFN_vit_tracker_has_image_format tracker_has_image_format;
PFN_vit_tracker_get_capabilities tracker_get_capabilities;
PFN_vit_tracker_get_pose_capabilities tracker_get_pose_capabilities;
PFN_vit_tracker_set_pose_capabilities tracker_set_pose_capabilities;
PFN_vit_tracker_start tracker_start;
PFN_vit_tracker_stop tracker_stop;
PFN_vit_tracker_reset tracker_reset;
PFN_vit_tracker_is_running tracker_is_running;
PFN_vit_tracker_push_imu_sample tracker_push_imu_sample;
PFN_vit_tracker_push_img_sample tracker_push_img_sample;
PFN_vit_tracker_add_imu_calibration tracker_add_imu_calibration;
PFN_vit_tracker_add_camera_calibration tracker_add_camera_calibration;
PFN_vit_tracker_pop_pose tracker_pop_pose;
PFN_vit_tracker_get_timing_titles tracker_get_timing_titles;
PFN_vit_pose_destroy pose_destroy;
PFN_vit_pose_get_data pose_get_data;
PFN_vit_pose_get_timing pose_get_timing;
PFN_vit_pose_get_features pose_get_features;
};
/*!
* Load the tracker.
*
* @ingroup aux_tracking
*/
bool
t_vit_bundle_load(struct t_vit_bundle *vit, const char *path);
/*!
* Unload the tracker.
*
* @ingroup aux_tracking
*/
void
t_vit_bundle_unload(struct t_vit_bundle *vit);
#ifdef __cplusplus
}
#endif