The open source OpenXR runtime
t/slam: Use locks for CSV writers
Fixes a race condition that produced weirdly written csv files.
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
347ae3ce
28b09733
+7
-1
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-1
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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#include <fstream>
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#include <iomanip>
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#include <map>
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#include <mutex>
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#include <string>
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#include <vector>
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···
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constexpr int UI_FEATURES_POSE_COUNT = 192;
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constexpr int UI_GTDIFF_POSE_COUNT = 192;
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using os::Mutex;
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using std::deque;
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using std::ifstream;
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using std::make_shared;
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using std::shared_ptr;
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using std::string;
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using std::to_string;
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using std::unique_lock;
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using std::vector;
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using std::filesystem::create_directories;
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using Trajectory = map<timepoint_ns, xrt_pose>;
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string filename;
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ofstream file;
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bool created = false;
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Mutex mutex;
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void
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create()
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void
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push(RowType row)
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{
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unique_lock lock(mutex);
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if (!enabled) {
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return;
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}
···
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{
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XRT_TRACE_MARKER();
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if (cam_index == 1) {
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if (cam_index == t.cam_count - 1) {
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flush_poses(t); // Useful to flush SLAM poses when no openxr app is open
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}
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SLAM_DASSERT(t.last_cam_ts[0] != INT64_MIN || cam_index == 0, "First frame was not a cam0 frame");