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st/prober: Use euroc stream for SLAM tracking
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@ -394,8 +394,20 @@ p_tracking_init(struct prober *p)
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#ifdef XRT_BUILD_DRIVER_EUROC
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if (debug_get_option_euroc_path() != NULL) {
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struct xrt_slam_sinks *sinks = NULL;
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// fact->xfs *will* be an euroc frame server after open, because of prober open_video_device
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xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
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xrt_fs_stream_start(fact->xfs, NULL, XRT_FS_CAPTURE_TYPE_TRACKING, 0);
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#ifdef XRT_HAVE_SLAM
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t_slam_create(&fact->xfctx, &fact->xts, &sinks);
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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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struct xrt_slam_sinks empty_sinks = {0};
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sinks = &empty_sinks;
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#endif
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xrt_fs_slam_stream_start(fact->xfs, sinks);
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}
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#endif
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