The open source OpenXR runtime
t/slam: Miscelaneous NFC changes
- Use @todo instead of TODO for doxygen
- Improve the slam_tracker interface documentation
- Move euroc functions declared by macros into extern C
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
debdb11e
1a5af031
+15
-10
+6
src/external/slam_tracker/slam_tracker.hpp
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src/external/slam_tracker/slam_tracker.hpp
···
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void stop();
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bool is_running();
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//! Should be thread safe, more than one producer could push.
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void push_imu_sample(imu_sample sample);
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//! Should be thread safe, more than one producer could push.
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void push_frame(img_sample sample);
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//! Only one user will dequeue, thread safety not required.
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//! Could be implemented with a lock-free queue.
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bool try_dequeue_pose(pose &pose);
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private:
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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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#warning "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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//! @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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t_slam_imu_sink_push(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
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{
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auto &t = *container_of(sink, TrackerSlam, imu_sink);
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// TODO: There are many conversions like these between xrt and
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// slam_tracker.hpp types. Implement a casting mechanism to avoid copies.
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//! @todo There are many conversions like these between xrt and
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//! slam_tracker.hpp types. Implement a casting mechanism to avoid copies.
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imu_sample sample{s->timestamp, s->ax, s->ay, s->az, s->wx, s->wy, s->wz};
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t.slam->push_imu_sample(sample);
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SLAM_TRACE("imu t=%ld a=[%f,%f,%f] w=[%f,%f,%f]", s->timestamp, s->ax, s->ay, s->az, s->wx, s->wy, s->wz);
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src/xrt/drivers/euroc/euroc_driver.h
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src/xrt/drivers/euroc/euroc_driver.h
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} while (false);
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#define EUROC_ASSERT_(predicate) EUROC_ASSERT(predicate, "Assertion failed " #predicate)
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DEBUG_GET_ONCE_LOG_OPTION(euroc_log, "EUROC_LOG", U_LOGGING_WARN)
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DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
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#ifdef __cplusplus
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extern "C" {
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#endif
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* @addtogroup drv_euroc
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* @{
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*/
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DEBUG_GET_ONCE_LOG_OPTION(euroc_log, "EUROC_LOG", U_LOGGING_WARN)
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DEBUG_GET_ONCE_OPTION(euroc_path, "EUROC_PATH", NULL)
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/*!
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* @}
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src/xrt/drivers/euroc/euroc_player.cpp
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src/xrt/drivers/euroc/euroc_player.cpp
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// Create xrt_frame, it will be freed by FrameMat destructor
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EUROC_ASSERT(xf == NULL || xf->reference.count > 0, "Must be given a valid or NULL frame ptr");
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EUROC_ASSERT(timestamp > 0, "Unexpected negative timestamp");
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// TODO: Not using xrt_stereo_format because we use two sinks. It would be
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// better to refactor everything to use stereo frames instead.
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//! @todo Not using xrt_stereo_format because we use two sinks. It would
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//! probably be better to refactor everything to use stereo frames instead.
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FrameMat::Params params{XRT_STEREO_FORMAT_NONE, static_cast<uint64_t>(timestamp)};
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auto wrap = img.channels() == 3 ? FrameMat::wrapR8G8B8 : FrameMat::wrapL8;
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wrap(img, &xf, params);
···
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EUROC_INFO(ep, "Starting Euroc Player in calibration mode, will stream only left frames right away");
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ep->out_sinks.left = xs;
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euroc_player_start_btn_cb(ep);
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ep->is_running = true;
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} else {
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EUROC_ASSERT(false, "Unsupported stream configuration xs=%p capture_type=%d", (void *)xs, capture_type);
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return false;