The open source OpenXR runtime
t/slam: Enable some tracing
+14
+14
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
+14
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
···
16
16
#include "util/u_misc.h"
17
17
#include "util/u_sink.h"
18
18
#include "util/u_var.h"
19
+
#include "util/u_trace_marker.h"
19
20
#include "os/os_threading.h"
20
21
#include "math/m_api.h"
21
22
#include "math/m_filter_fifo.h"
···
844
845
static void
845
846
predict_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
846
847
{
848
+
XRT_TRACE_MARKER();
849
+
847
850
bool valid_pred_type = t.pred_type >= SLAM_PRED_NONE && t.pred_type <= SLAM_PRED_SP_SO_IA_IL;
848
851
SLAM_DASSERT(valid_pred_type, "Invalid prediction type (%d)", t.pred_type);
849
852
···
901
904
static void
902
905
filter_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
903
906
{
907
+
XRT_TRACE_MARKER();
908
+
904
909
if (t.filter.use_moving_average_filter) {
905
910
if (out_relation->relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
906
911
xrt_vec3 pos = out_relation->pose.position;
···
1131
1136
extern "C" void
1132
1137
t_slam_get_tracked_pose(struct xrt_tracked_slam *xts, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
1133
1138
{
1139
+
XRT_TRACE_MARKER();
1140
+
1134
1141
auto &t = *container_of(xts, TrackerSlam, base);
1135
1142
1136
1143
//! @todo This should not be cached, the same timestamp can be requested at a
···
1160
1167
extern "C" void
1161
1168
t_slam_gt_sink_push(struct xrt_pose_sink *sink, xrt_pose_sample *sample)
1162
1169
{
1170
+
XRT_TRACE_MARKER();
1171
+
1163
1172
auto &t = *container_of(sink, TrackerSlam, gt_sink);
1164
1173
1165
1174
if (t.gt.trajectory->empty()) {
···
1175
1184
extern "C" void
1176
1185
t_slam_receive_imu(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
1177
1186
{
1187
+
XRT_TRACE_MARKER();
1188
+
1178
1189
auto &t = *container_of(sink, TrackerSlam, imu_sink);
1179
1190
1180
1191
timepoint_ns ts = s->timestamp_ns;
···
1205
1216
static void
1206
1217
receive_frame(TrackerSlam &t, struct xrt_frame *frame, int cam_index)
1207
1218
{
1219
+
XRT_TRACE_MARKER();
1220
+
1208
1221
if (cam_index == 1) {
1209
1222
flush_poses(t); // Useful to flush SLAM poses when no openxr app is open
1210
1223
}
···
1215
1228
SLAM_DASSERT_(frame->timestamp < INT64_MAX);
1216
1229
img_sample sample{(int64_t)frame->timestamp, img, cam_index};
1217
1230
if (t.submit) {
1231
+
XRT_TRACE_IDENT(slam_push);
1218
1232
t.slam->push_frame(sample);
1219
1233
}
1220
1234
SLAM_TRACE("cam%d frame t=%lu", cam_index, frame->timestamp);