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The open source OpenXR runtime
t/cli: Add calib-dump command
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src/xrt/targets/cli/CMakeLists.txt
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src/xrt/targets/cli/CMakeLists.txt
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add_executable(
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cli
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cli_cmd_calibration_dump.c
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cli_cmd_lighthouse.c
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cli_cmd_probe.c
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cli_cmd_slambatch.c
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if(NOT WIN32)
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# No getline on Windows, so until we have a portable impl
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target_sources(cli PRIVATE cli_cmd_calibrate.c)
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endif()
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if(XRT_HAVE_OPENCV)
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target_link_libraries(cli PRIVATE aux_tracking)
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endif()
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set_target_properties(cli PROPERTIES OUTPUT_NAME monado-cli PREFIX "")
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src/xrt/targets/cli/cli_cmd_calibration_dump.c
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src/xrt/targets/cli/cli_cmd_calibration_dump.c
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// Copyright 2019-2023, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Loads and dumps a calibration file.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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*/
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#include "xrt/xrt_compiler.h"
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#include "xrt/xrt_config_have.h"
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#include "cli_common.h"
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#ifdef XRT_HAVE_OPENCV
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#include "tracking/t_tracking.h"
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#endif
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#include <string.h>
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#include <stdio.h>
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#define P(...) fprintf(stderr, __VA_ARGS__)
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int
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cli_cmd_calibration_dump(int argc, const char **argv)
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{
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#ifdef XRT_HAVE_OPENCV
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if (argc < 3) {
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P("Must be given a file path\n");
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return 1;
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}
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const char *filename = argv[2];
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struct t_stereo_camera_calibration *data = NULL;
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if (!t_stereo_camera_calibration_load(filename, &data)) {
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P("Could not load '%s'!\n", filename);
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return 1;
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}
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t_stereo_camera_calibration_dump(data);
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t_stereo_camera_calibration_reference(&data, NULL);
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return 0;
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#else
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P("Not compiled with XRT_HAVE_OPENCV, so can't load calibration files!\n");
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return 1;
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#endif
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}
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src/xrt/targets/cli/cli_common.h
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src/xrt/targets/cli/cli_common.h
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-1
src/xrt/targets/cli/cli_main.c
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-1
src/xrt/targets/cli/cli_main.c
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}
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P("Monado-CLI 0.0.1\n");
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P("Usage: %s command [options]\n", argv[0]);
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P("Usage: %s command [options] [file]\n", argv[0]);
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P("\n");
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P("Commands:\n");
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P(" test - List found devices, for prober testing.\n");
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P(" probe - Just probe and then exit.\n");
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P(" lighthouse - Control the power of lighthouses [on|off].\n");
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P(" calibrate - Calibrate a camera and save config (not implemented yet).\n");
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P(" calib-dumb - Load and dump a calibration to stdout.\n");
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P(" slambatch - Runs a sequence of EuRoC datasets with the SLAM tracker.\n");
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return 1;
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return cli_cmd_calibrate(argc, argv);
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}
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#endif // !XRT_OS_WINDOWS
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if (strcmp(argv[1], "calib-dump") == 0) {
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return cli_cmd_calibration_dump(argc, argv);
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}
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if (strcmp(argv[1], "lighthouse") == 0) {
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return cli_cmd_lighthouse(argc, argv);
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}