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t/slam: Prioritize SLAM_CONFIG over driver calibration if set

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Mateo de Mayo 2022-06-02 10:37:26 -03:00 committed by Jakob Bornecrantz
parent e24ec3d431
commit 6bc551d004
1 changed files with 27 additions and 20 deletions
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47
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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@ -847,6 +847,27 @@ add_imu_calibration(const TrackerSlam &t, const t_imu_calibration *imu_calib, co
t.slam->use_feature(F_ADD_IMU_CALIBRATION, params, result);
}
static void
send_calibration(const TrackerSlam &t, const t_slam_tracker_config &c)
{
// Try to send camera calibration data to the SLAM system
if (c.stereo_calib && c.extra_calib && t.slam->supports_feature(F_ADD_CAMERA_CALIBRATION)) {
SLAM_INFO("Sending Camera calibration from Monado");
add_camera_calibration(t, c.stereo_calib, c.extra_calib);
} else {
SLAM_INFO("Cameras will use the calibration provided by the SLAM_CONFIG file");
}
// Try to send IMU calibration data to the SLAM system
if (c.imu_calib && c.extra_calib && t.slam->supports_feature(F_ADD_IMU_CALIBRATION)) {
SLAM_INFO("Sending IMU calibration from Monado");
add_imu_calibration(t, c.imu_calib, c.extra_calib);
} else {
SLAM_INFO("The IMU will use the calibration provided by the SLAM_CONFIG file");
}
}
} // namespace xrt::auxiliary::tracking::slam
using namespace xrt::auxiliary::tracking::slam;
@ -1066,38 +1087,24 @@ t_slam_create(struct xrt_frame_context *xfctx,
const char *config_file = config->slam_config;
bool some_calib = config->stereo_calib || config->imu_calib;
if (!config_file && !some_calib) {
U_LOG_IFL_W(log_level, "Unable to determine sensor calibration, did you forgot to set SLAM_CONFIG?");
U_LOG_IFL_W(log_level, "Unable to determine sensor calibration, did you forget to set SLAM_CONFIG?");
return -1;
}
if (!config_file) {
// Indicate the external system to use default (non-calibration) settings
config_file = "DEFAULT";
}
auto &t = *(new TrackerSlam{});
t.log_level = log_level;
t.cv_wrapper = new MatFrame();
t.base.get_tracked_pose = t_slam_get_tracked_pose;
std::string config_file_string = std::string(config_file);
std::string config_file_string = std::string(config_file ? config_file : "DEFAULT");
t.slam = new slam_tracker{config_file_string};
// Try to send camera calibration data to the SLAM system
if (config->stereo_calib && config->extra_calib && t.slam->supports_feature(F_ADD_CAMERA_CALIBRATION)) {
SLAM_INFO("Sending Camera calibration from Monado");
add_camera_calibration(t, config->stereo_calib, config->extra_calib);
if (!config_file) {
SLAM_INFO("Using calibration from driver and default pipeline settings");
send_calibration(t, *config);
} else {
SLAM_INFO("Cameras will use the calibration provided by the SLAM_CONFIG file");
}
// Try to send IMU calibration data to the SLAM system
if (config->imu_calib && config->extra_calib && t.slam->supports_feature(F_ADD_IMU_CALIBRATION)) {
SLAM_INFO("Sending IMU calibration from Monado");
add_imu_calibration(t, config->imu_calib, config->extra_calib);
} else {
SLAM_INFO("The IMU will use the calibration provided by the SLAM_CONFIG file");
SLAM_INFO("Using sensor calibration provided by the SLAM_CONFIG file");
}
t.slam->initialize();