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t/slam: Add reset state button

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Mateo de Mayo 2023-08-23 13:54:44 -03:00 committed by Jakob Bornecrantz
parent 5fd73ea70c
commit f8932fe879
1 changed files with 11 additions and 0 deletions
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11
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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@ -357,6 +357,8 @@ struct TrackerSlam
bool submit; //!< Whether to submit data pushed to sinks to the SLAM tracker
int cam_count; //!< Number of cameras used for tracking
struct u_var_button reset_state_btn; //!< Reset tracker state button
enum u_logging_level log_level; //!< Logging level for the SLAM tracker, set by SLAM_LOG var
struct os_thread_helper oth; //!< Thread where the external SLAM system runs
MatFrame *cv_wrapper; //!< Wraps a xrt_frame in a cv::Mat to send to the SLAM system
@ -1084,6 +1086,15 @@ setup_ui(TrackerSlam &t)
u_var_add_root(&t, "SLAM Tracker", true);
u_var_add_log_level(&t, &t.log_level, "Log Level");
u_var_add_bool(&t, &t.submit, "Submit data to SLAM");
u_var_button_cb reset_state_cb = [](void *t_ptr) {
TrackerSlam *t = (TrackerSlam *)t_ptr;
shared_ptr<void> _;
t->slam->use_feature(F_RESET_TRACKER_STATE, _, _);
};
t.reset_state_btn.cb = reset_state_cb;
t.reset_state_btn.ptr = &t;
u_var_add_button(&t, &t.reset_state_btn, "Reset tracker state");
u_var_add_bool(&t, &t.gt.override_tracking, "Track with ground truth (if available)");
euroc_recorder_add_ui(t.euroc_recorder, &t, "");