Use a sink in the middle of the stream to correct for v4l2 timestamps with
hardware timestamps to monotonic clock.
This sink, together with other utilities related to data streaming, lives in a
new vive_source entity, with similar functionality to wmr_source or rs_source.
The vive_source lifetime is managed by the builder xfctx, which prevents
deallocation dependencies between vive_device and the v4l2_fs to cause segfaults.
We now have a cmake-format config file.
We no longer use list variables for sources, instead using
target_sources when we need to add, in accordance with current
best practice. (This makes it a lot easier to edit too.) There's no more
include_directories(), add_definitions(), or other gently-deprecated
directory-scoped commands, nor any CMake scripts that include
a parent directory reference (named targets instead)
This device was tested on a D455 but should work on any other RealSense camera
that supports camera and IMU streams (even the T265), given that you properly
configure the external SLAM config file.
This commit introduces the term `ddev` for a "Device-SLAM tracked device",
it will be useful to differentiate itself from the `hdev`
("Host-SLAM tracked device") that will be introduced in next commits.
Note that "config_realsense" json field was renamed to "config_realsense_device"
and the device's serial (used for tracking overrides) changed from
"Intel RealSense 6-DOF" to "Intel RealSense Device-SLAM".
- Implement xrt_slam_source instead of xrt_fs
- Merge intermediate sink pointers into xrt_slam_sinks in_sinks
- Add out_sinks for downstream passage of data
- Make speed playback option a double (float was not precise enough)
- Add use_source_ts playback option to optionally use original dataset timestamps
- Fix colored datasets not working
A squash of the following commits.
d/euroc: Add Euroc driver initial boilerplate
d/euroc: Implement xrt_frame_node interface
d/euroc: Implement mainloop thread start flow
d/euroc: Parse samples from data.csv files
d/euroc: Determine dataset information at start
Also use that information to provide a xrt_fs mode and to know if
right camera images are available to use.
d/euroc: Produce frames for left and right sinks
d/euroc: Implement xrt_imu_sink
d/euroc: Implement playback properties
d/euroc: Implement pausing with UI state machine
d/euroc: Show IMU and progress data in UI
d/euroc: Make sure to give in nullptr or valid pointers to wrapL8
d/euroc: Unreference frames when done with them
d/euroc: Fix leaks with debug sinks, and work around free issue
d/euroc: Refactor playback to produce samples with current timestamps
d/euroc: Fix double free by separating debug sinks from downstream sinks
