st/prober: Use euroc stream for SLAM tracking

This commit is contained in:
Mateo de Mayo 2021-09-08 23:50:56 -03:00 committed by Jakob Bornecrantz
parent 6de1ab8f8e
commit 78e8d3177c

View file

@ -394,8 +394,20 @@ p_tracking_init(struct prober *p)
#ifdef XRT_BUILD_DRIVER_EUROC
if (debug_get_option_euroc_path() != NULL) {
struct xrt_slam_sinks *sinks = NULL;
// fact->xfs *will* be an euroc frame server after open, because of prober open_video_device
xrt_prober_open_video_device(&fact->p->base, NULL, &fact->xfctx, &fact->xfs);
xrt_fs_stream_start(fact->xfs, NULL, XRT_FS_CAPTURE_TYPE_TRACKING, 0);
#ifdef XRT_HAVE_SLAM
t_slam_create(&fact->xfctx, &fact->xts, &sinks);
#else
U_LOG_W("SLAM tracking support is disabled, the Euroc driver will not be tracked");
struct xrt_slam_sinks empty_sinks = {0};
sinks = &empty_sinks;
#endif
xrt_fs_slam_stream_start(fact->xfs, sinks);
}
#endif