Support SLAM map serialization (#9)

Requires SDK version 0.17+

Author: oseiskar

python/oak/mixed_reality.py

@@ -13,9 +13,20 @@
 
 FPS = 24 # set to 30 for smoother frame rate
 
+def parse_args():
+    import argparse
+    p = argparse.ArgumentParser(__doc__)
+    p.add_argument("--mapLoadPath", help="SLAM map path", default=None)
+    return p.parse_args()
+
 def make_pipelines():
     pipeline = depthai.Pipeline()
-    vio_pipeline = spectacularAI.depthai.Pipeline(pipeline)
+    config = spectacularAI.depthai.Configuration()
+    args = parse_args()
+    if args.mapLoadPath is not None:
+        config.mapLoadPath = args.mapLoadPath
+        config.useSlam = True
+    vio_pipeline = spectacularAI.depthai.Pipeline(pipeline, config)
 
     # NOTE: this simple method of reading RGB data from the device does not
     # scale to well to higher resolutions. Use YUV data with larger resolutions

python/oak/vio_record.py

@@ -43,6 +43,7 @@
 p.add_argument("--gray", help="Record (rectified) gray video data", action="store_true")
 p.add_argument("--no_convert", help="Skip converting h265 video file", action="store_true")
 p.add_argument('--no_preview', help='Do not show a live preview', action="store_true")
+p.add_argument('--slam', help='Record SLAM map', action="store_true")
 p.add_argument("--resolution", help="Gray input resolution (gray)",
     default=config.inputResolution,
     choices=['400p', '800p'])
@@ -52,6 +53,9 @@
 
 config.recordingFolder = args.output
 config.inputResolution = args.resolution
+if args.slam:
+    config.useSlam = True
+    config.mapSavePath = os.path.join(args.output, 'slam_map._')
 
 # Enable recoding by setting recordingFolder option
 vio_pipeline = spectacularAI.depthai.Pipeline(pipeline, config)