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st/prober: Make euroc start by hooking it into the prober

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Mateo de Mayo 2021-08-20 11:43:53 -03:00 committed by Jakob Bornecrantz
parent 97c59bd59f
commit 91db53572b
2 changed files with 30 additions and 0 deletions
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19
src/xrt/state_trackers/prober/p_prober.c
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@ -25,6 +25,10 @@
#include "vf/vf_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_EUROC
#include "euroc/euroc_interface.h"
#endif
#ifdef XRT_BUILD_DRIVER_REMOTE
#include "remote/r_interface.h"
#endif
@ -939,6 +943,7 @@ open_hid_interface(struct xrt_prober *xp,
}
DEBUG_GET_ONCE_OPTION(vf_path, "VF_PATH", NULL)
DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
static int
open_video_device(struct xrt_prober *xp,
@ -948,6 +953,15 @@ open_video_device(struct xrt_prober *xp,
{
XRT_MAYBE_UNUSED struct prober_device *pdev = (struct prober_device *)xpdev;
#if defined(XRT_BUILD_DRIVER_EUROC)
// TODO: If both VF_PATH and EUROC_PATH are set, VF will be ignored on calibration
const char *euroc_path = debug_get_option_euroc_path();
if (euroc_path != NULL) {
*out_xfs = euroc_player_create(xfctx, euroc_path); // Euroc will exit if it can't be created
return 0;
}
#endif
#if defined(XRT_BUILD_DRIVER_VF)
const char *path = debug_get_option_vf_path();
if (path != NULL) {
@ -987,6 +1001,11 @@ list_video_devices(struct xrt_prober *xp, xrt_prober_list_video_cb cb, void *ptr
cb(xp, NULL, "Video File", "Collabora", path, ptr);
}
path = debug_get_option_euroc_path();
if (path != NULL) {
cb(xp, NULL, "Euroc Dataset", "Collabora", path, ptr);
}
// Loop over all devices and find video devices.
for (size_t i = 0; i < p->num_devices; i++) {
struct prober_device *pdev = &p->devices[i];

11
src/xrt/state_trackers/prober/p_tracking.c
View file

@ -26,6 +26,10 @@
#include <stdio.h>
#include <string.h>
#ifdef XRT_BUILD_DRIVER_EUROC
#include "util/u_debug.h"
DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
#endif
/*
*
@ -353,6 +357,13 @@ p_tracking_init(struct prober *p)
// Finally set us as the tracking factory.
p->base.tracking = &fact->base;
#ifdef XRT_BUILD_DRIVER_EUROC
if (debug_get_option_euroc_path() != NULL) {
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);
}
#endif
return 0;
}