The open source OpenXR runtime
aux/tracking: remove MatFrame class from t_tracker_slam
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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using xrt::auxiliary::math::RelationHistory;
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using cv::Mat;
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using cv::MatAllocator;
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using cv::UMatData;
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using cv::UMatUsageFlags;
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#define USING_OPENCV_3_3_1 (CV_VERSION_MAJOR == 3 && CV_VERSION_MINOR == 3 && CV_VERSION_REVISION == 1)
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#if defined(XRT_HAVE_KIMERA) && !USING_OPENCV_3_3_1
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#pragma message "Kimera-VIO uses OpenCV 3.3.1, use that to prevent conflicts"
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#endif
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//! @todo These defs should make OpenCV 4 work but it wasn't tested against a
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//! SLAM system that supports that version yet.
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#if CV_VERSION_MAJOR < 4
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#define ACCESS_RW 0
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typedef int AccessFlag;
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#define CV_AUTOSTEP 0x7fffffff // From opencv2/core/core_c.h
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#else
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using cv::ACCESS_RW;
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using cv::AccessFlag;
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#define CV_AUTOSTEP cv::Mat::AUTO_STEP
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#endif
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/*!
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* @brief Wraps a @ref xrt_frame with a `cv::Mat` (conversely to @ref FrameMat).
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*
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* It works by implementing a `cv::MatAllocator` which determines what to do
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* when a `cv::Mat` refcount reaches zero. In that case, it decrements the @ref
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* xrt_frame refcount once the `cv::Mat` own refcount has reached zero.
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*
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* @note a @ref MatFrame `cv::Mat` can wrap a @ref FrameMat @ref xrt_frame,
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* which in turns wraps a `cv::Mat`, with little overhead, and that is precisely
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* how it is being used in this file when the @ref xrt_frame is a @ref FrameMat.
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*/
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class MatFrame final : public MatAllocator
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{
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public:
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//! Wraps a @ref xrt_frame in a `cv::Mat`
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Mat
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wrap(struct xrt_frame *frame)
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{
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SLAM_DASSERT_(frame->format == XRT_FORMAT_L8 || frame->format == XRT_FORMAT_R8G8B8);
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auto img_type = frame->format == XRT_FORMAT_L8 ? CV_8UC1 : CV_8UC3;
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// Wrap the frame data into a cv::Mat header
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cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data, frame->stride};
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// Enable reference counting for a user-allocated cv::Mat (i.e., using existing frame->data)
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img.u = this->allocate(img.dims, img.size.p, img.type(), img.data, img.step.p, ACCESS_RW,
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cv::USAGE_DEFAULT);
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SLAM_DASSERT_(img.u->refcount == 0);
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img.addref();
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// Keep a reference to the xrt_frame in the cv userdata field for when the cv::Mat reference reaches 0
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SLAM_DASSERT_(img.u->userdata == NULL); // Should be default-constructed
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xrt_frame_reference((struct xrt_frame **)&img.u->userdata, frame);
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return img;
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}
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//! Allocates a `cv::UMatData` object which is in charge of reference counting for a `cv::Mat`
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UMatData *
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allocate(
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int dims, const int *sizes, int type, void *data0, size_t *step, AccessFlag, UMatUsageFlags) const override
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{
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SLAM_DASSERT_(dims == 2 && sizes && data0 && step && step[0] != CV_AUTOSTEP);
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UMatData *u = new UMatData(this);
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uchar *data = (uchar *)data0;
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u->data = u->origdata = data;
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u->size = step[0] * sizes[0]; // Row stride * row count
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u->flags |= UMatData::USER_ALLOCATED; // External data
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return u;
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}
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//! Necessary but unused virtual method for a `cv::MatAllocator`
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bool
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allocate(UMatData *, AccessFlag, UMatUsageFlags) const override
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{
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SLAM_ASSERT(false, "Shouldn't be reached");
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return false;
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}
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//! When `cv::UMatData` refcount reaches zero this method is called, we just
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//! decrement the original @ref xrt_frame refcount as it is the one in charge
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//! of the memory.
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void
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deallocate(UMatData *u) const override
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{
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SLAM_DASSERT_(u->urefcount == 0 && u->refcount == 0);
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SLAM_DASSERT_(u->flags & UMatData::USER_ALLOCATED);
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xrt_frame_reference((struct xrt_frame **)&u->userdata, NULL);
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delete u;
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}
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};
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/*
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*
···
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struct u_var_button reset_state_btn; //!< Reset tracker state button
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enum u_logging_level log_level; //!< Logging level for the SLAM tracker, set by SLAM_LOG var
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MatFrame *cv_wrapper; //!< Wraps a xrt_frame in a cv::Mat to send to the SLAM system
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struct xrt_slam_sinks *euroc_recorder; //!< EuRoC dataset recording sinks
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struct openvr_tracker *ovr_tracker; //!< OpenVR lighthouse tracker
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last_ts = ts;
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// Construct and send the image sample
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cv::Mat img = t.cv_wrapper->wrap(frame);
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vit_img_sample sample = {};
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sample.cam_index = cam_index;
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sample.timestamp = ts;
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sample.data = img.ptr();
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sample.width = img.cols;
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sample.height = img.rows;
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sample.stride = img.step;
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sample.size = img.cols * img.rows;
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sample.data = frame->data;
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sample.width = frame->width;
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sample.height = frame->height;
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sample.stride = frame->stride;
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sample.size = frame->size;
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// TODO check format before
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switch (frame->format) {
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os_mutex_destroy(&t.lock_ff);
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m_ff_vec3_f32_free(&t.filter.pos_ff);
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m_ff_vec3_f32_free(&t.filter.rot_ff);
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delete t_ptr->cv_wrapper;
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t_ptr->vit.tracker_destroy(t_ptr->tracker);
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t_vit_bundle_unload(&t_ptr->vit);