t/cli: Add slambatch command

src/xrt/targets/cli/CMakeLists.txt

@@ -8,6 +8,7 @@ add_executable(
 	cli
 	cli_cmd_lighthouse.c
 	cli_cmd_probe.c
+	cli_cmd_slambatch.c
 	cli_cmd_test.c
 	cli_common.h
 	cli_main.c
@@ -21,6 +22,6 @@ endif()
 
 set_target_properties(cli PROPERTIES OUTPUT_NAME monado-cli PREFIX "")
 
-target_link_libraries(cli PRIVATE aux_os aux_util aux_math target_instance_no_comp)
+target_link_libraries(cli PRIVATE aux_os aux_util aux_math target_instance_no_comp drv_includes)
 
 install(TARGETS cli RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})

src/xrt/targets/cli/cli_cmd_slambatch.c

@@ -0,0 +1,82 @@
+// Copyright 2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  EuRoC datasets batch evaluation tool
+ * @author Mateo de Mayo <mateo.demayo@collabora.com>
+ */
+
+#include "euroc/euroc_interface.h"
+#include "os/os_threading.h"
+#include "util/u_logging.h"
+#include "xrt/xrt_config_have.h"
+#include "xrt/xrt_config_drivers.h"
+
+#include <stdio.h>
+
+#define P(...) fprintf(stderr, __VA_ARGS__)
+#define I(...) U_LOG(U_LOGGING_INFO, __VA_ARGS__)
+
+#if defined(XRT_BUILD_DRIVER_EUROC)
+
+static bool should_exit = false;
+
+static void *
+wait_for_exit_key(void *ptr)
+{
+	getchar();
+	should_exit = true;
+	return NULL;
+}
+#endif
+
+int
+cli_cmd_slambatch(int argc, const char **argv)
+{
+
+#if !defined(XRT_HAVE_SLAM)
+	P("No SLAM system built.\n");
+	return EXIT_FAILURE;
+#elif !defined(XRT_BUILD_DRIVER_EUROC)
+	P("Euroc driver not built, can't reproduce datasets.\n");
+	return EXIT_FAILURE;
+#else
+	// Do not count "monado-cli" and "slambatch" as args
+	int nof_args = argc - 2;
+	const char **args = &argv[2];
+
+	if (nof_args == 0 || nof_args % 3 != 0) {
+		P("Batch evaluator of SLAM datasets.\n");
+		P("Usage: %s %s [<euroc_path> <slam_config> <output_path>]...\n", argv[0], argv[1]);
+		return EXIT_FAILURE;
+	}
+
+	// Allow pressing enter to quit the program by launching a new thread
+	struct os_thread_helper wfk_thread;
+	os_thread_helper_init(&wfk_thread);
+	os_thread_helper_start(&wfk_thread, wait_for_exit_key, NULL);
+
+	timepoint_ns start_time = os_monotonic_get_ns();
+	int nof_datasets = nof_args / 3;
+	for (int i = 0; i < nof_datasets && !should_exit; i++) {
+		const char *dataset_path = args[i * 3];
+		const char *slam_config = args[i * 3 + 1];
+		const char *output_path = args[i * 3 + 2];
+
+		I("Running dataset %d out of %d", i + 1, nof_datasets);
+		I("Dataset path: %s", dataset_path);
+		I("SLAM config path: %s", slam_config);
+		I("Output path: %s", output_path);
+
+		euroc_run_dataset(dataset_path, slam_config, output_path, &should_exit);
+	}
+	timepoint_ns end_time = os_monotonic_get_ns();
+
+	pthread_cancel(wfk_thread.thread);
+	os_thread_helper_stop(&wfk_thread);
+	os_thread_helper_destroy(&wfk_thread);
+
+	printf("Done in %.2fs.\n", (double)(end_time - start_time) / U_TIME_1S_IN_NS);
+#endif
+	return EXIT_SUCCESS;
+}

src/xrt/targets/cli/cli_common.h

@@ -23,6 +23,9 @@ cli_cmd_lighthouse(int argc, const char **argv);
 int
 cli_cmd_probe(int argc, const char **argv);
 
+int
+cli_cmd_slambatch(int argc, const char **argv);
+
 int
 cli_cmd_test(int argc, const char **argv);
 

src/xrt/targets/cli/cli_main.c

@@ -31,6 +31,7 @@ cli_print_help(int argc, const char **argv)
 	P("  probe      - Just probe and then exit.\n");
 	P("  lighthouse - Control the power of lighthouses [on|off].\n");
 	P("  calibrate  - Calibrate a camera and save config (not implemented yet).\n");
+	P("  slambatch  - Runs a sequence of EuRoC datasets with the SLAM tracker.\n");
 
 	return 1;
 }
@@ -56,5 +57,8 @@ main(int argc, const char **argv)
 	if (strcmp(argv[1], "lighthouse") == 0) {
 		return cli_cmd_lighthouse(argc, argv);
 	}
+	if (strcmp(argv[1], "slambatch") == 0) {
+		return cli_cmd_slambatch(argc, argv);
+	}
 	return cli_print_help(argc, argv);
 }

src/xrt/targets/cli/meson.build

@@ -7,6 +7,7 @@ cli = executable(
 		'cli_cmd_calibrate.c',
 		'cli_cmd_lighthouse.c',
 		'cli_cmd_probe.c',
+		'cli_cmd_slambatch.c',
 		'cli_cmd_test.c',
 		'cli_common.h',
 		'cli_main.c',
@@ -23,6 +24,7 @@ cli = executable(
 		common_include,
 		drv_include,
 		xrt_include,
+		cjson_include,
 	],
 	dependencies: [
 		libusb,