Euroc driver

Provide euroc dataset playback features for SLAM evaluation. More...

Collaboration diagram for Euroc driver:

Files
file	euroc_device.c
	Fake device tracked with EuRoC datasets and SLAM.
file	euroc_driver.h
	Internal header for the euroc driver utilities.
file	euroc_interface.h
	Interface for Euroc driver.
file	euroc_player.cpp
	EuRoC playback functionality.
file	euroc_runner.c
	Play EuRoC datasets and track them with the SLAM tracker.

Data Structures
struct	euroc_player_playback_config
	Playback configuration for the euroc player. More...
struct	euroc_player_dataset_info
	Describes information about a particular EuRoC dataset residing in path. More...
struct	euroc_player_config
	Configuration for the euroc player. More...

Macros
#define	EUROC_TRACE(e, ...)   U_LOG_IFL_T(e->log_level, __VA_ARGS__)
#define	EUROC_DEBUG(e, ...)   U_LOG_IFL_D(e->log_level, __VA_ARGS__)
#define	EUROC_INFO(e, ...)   U_LOG_IFL_I(e->log_level, __VA_ARGS__)
#define	EUROC_WARN(e, ...)   U_LOG_IFL_W(e->log_level, __VA_ARGS__)
#define	EUROC_ERROR(e, ...)   U_LOG_IFL_E(e->log_level, __VA_ARGS__)
#define	EUROC_ASSERT(predicate, ...)
#define	EUROC_ASSERT_(predicate)   EUROC_ASSERT(predicate, "Assertion failed " #predicate)

Functions
void	euroc_player_fill_default_config_for (struct euroc_player_config *config, const char *path)
	Fills in an euroc_player_config with defaults based on the provided dataset path. More...
struct xrt_fs *	euroc_player_create (struct xrt_frame_context *xfctx, const char *path, struct euroc_player_config *config)
	Create an euroc player from a path to a dataset. More...
struct xrt_auto_prober *	euroc_create_auto_prober (void)
	Create a auto prober for the fake euroc device. More...
void	euroc_run_dataset (const char *euroc_path, const char *slam_config, const char *output_path, const volatile bool *should_exit)
	Tracks an euroc dataset with the SLAM tracker. More...

Detailed Description

Provide euroc dataset playback features for SLAM evaluation.

This driver works with any dataset using the EuRoC format. Original EuRoC datasets and more information about them can be found in https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

Macro Definition Documentation

EUROC_ASSERT

#define EUROC_ASSERT	(		predicate,
			...
	)

#include <drivers/euroc/euroc_driver.h>

Value:

        do {                                                                                                           \
                bool p = predicate;                                                                                    \
                if (!p) {                                                                                              \
                        U_LOG(U_LOGGING_ERROR, __VA_ARGS__);                                                           \
                        assert(false && "EUROC_ASSERT failed: " #predicate);                                           \
                        exit(EXIT_FAILURE);                                                                            \
                }                                                                                                      \
        } while (false);

Function Documentation

euroc_create_auto_prober()

struct xrt_auto_prober* euroc_create_auto_prober

(

void

)

#include <drivers/euroc/euroc_interface.h>

Create a auto prober for the fake euroc device.

References xrt_auto_prober::destroy, and U_TYPED_CALLOC.

euroc_player_create()

struct xrt_fs* euroc_player_create	(	struct xrt_frame_context *	xfctx,
		const char *	path,
		struct euroc_player_config *	config
	)

#include <drivers/euroc/euroc_interface.h>

Create an euroc player from a path to a dataset.

euroc_player_fill_default_config_for()

void euroc_player_fill_default_config_for	(	struct euroc_player_config *	config,
		const char *	path
	)

#include <drivers/euroc/euroc_interface.h>

Fills in an euroc_player_config with defaults based on the provided dataset path.

References euroc_player_playback_config::cam_count, euroc_player_playback_config::color, euroc_player_fill_dataset_info(), and euroc_player_playback_config::gt.

Referenced by p_factory_ensure_slam_frameserver().

euroc_run_dataset()

void euroc_run_dataset	(	const char *	euroc_path,
		const char *	slam_config,
		const char *	output_path,
		const volatile bool *	should_exit
	)

#include <drivers/euroc/euroc_interface.h>

Tracks an euroc dataset with the SLAM tracker.

Parameters

should_exit	External exit condition, the run will end if it becomes true
euroc_path	Dataset path
slam_config	Path to config file for the SLAM system
output_path	Path to write resulting tracking data to