The open source OpenXR runtime
t/euroc: Fix race condition in imu and gt csv writers
Multiple cameras were flushing the imu/gt queues but only one should do so.
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
642549b5
4b78b4c5
+5
-3
+5
-3
src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
+5
-3
src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
···
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*er->imu_csv << "#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y [rad s^-1],w_RS_S_z [rad s^-1],"
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"a_RS_S_x [m s^-2],a_RS_S_y [m s^-2],a_RS_S_z [m s^-2]" CSV_EOL;
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create_directories(path + "/mav0/gt0");
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er->gt_csv = new ofstream{path + "/mav0/gt0/data.csv"};
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create_directories(path + "/mav0/gt");
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er->gt_csv = new ofstream{path + "/mav0/gt/data.csv"};
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*er->gt_csv << std::fixed << std::setprecision(CSV_PRECISION);
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*er->gt_csv << "#timestamp [ns],p_RS_R_x [m],p_RS_R_y [m],p_RS_R_z [m],"
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"q_RS_w [],q_RS_x [],q_RS_y [],q_RS_z []" CSV_EOL;
···
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extern "C" void euroc_recorder_save_cam##cam_id(struct xrt_frame_sink *sink, struct xrt_frame *frame) \
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{ \
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euroc_recorder *er = container_of(sink, euroc_recorder, writer_sinks[cam_id]); \
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euroc_recorder_flush(er); \
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if (cam_id == 0) { \
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euroc_recorder_flush(er); \
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} \
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euroc_recorder_save_frame(er, frame, cam_id); \
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}
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