Euroc player is in charge of the playback of a particular dataset. More...
Data Fields | |
| struct xrt_fs | base |
| struct xrt_frame_node | node |
| struct xrt_frame_sink | cam_sinks [XRT_TRACKING_MAX_SLAM_CAMS] |
| Intermediate sink for each camera frames. More... | |
| struct xrt_imu_sink | imu_sink |
| Intermediate sink for IMU samples. More... | |
| struct xrt_slam_sinks | in_sinks |
| Pointers to intermediate sinks. More... | |
| struct xrt_slam_sinks | out_sinks |
| Pointers to downstream sinks. More... | |
| enum u_logging_level | log_level |
| Log messages with this priority and onwards. More... | |
| struct euroc_player_dataset_info | dataset |
| Contains information about the source dataset. More... | |
| struct euroc_player_playback_config | playback |
| Playback information. More... | |
| struct xrt_fs_mode | mode |
| The only fs mode the euroc dataset provides. More... | |
| bool | is_running |
| Set only at start, stop and end of frameserver stream. More... | |
| timepoint_ns | last_pause_ts |
| Last time the stream was paused. More... | |
| struct os_thread_helper | play_thread |
| uint64_t | img_seq |
Next frame number to use, index in imgs[i]. More... | |
| uint64_t | imu_seq |
Next imu sample number to use, index in imus More... | |
| imu_samples * | imus |
| List of all IMU samples read from the dataset. More... | |
| vector< img_samples > * | imgs |
| List of all image names to read from the dataset per camera. More... | |
| gt_trajectory * | gt |
| List of all groundtruth poses read from the dataset. More... | |
| timepoint_ns | base_ts |
| First sample timestamp, stream timestamps are relative to this. More... | |
| timepoint_ns | start_ts |
| When did the dataset started to be played. More... | |
| timepoint_ns | offset_ts |
| Amount of ns to offset start_ns (pauses, skips, etc) More... | |
| enum euroc_player_ui_state | ui_state |
| struct u_var_button | start_btn |
| struct u_var_button | pause_btn |
| char | progress_text [128] |
| struct u_sink_debug | ui_cam_sinks [XRT_TRACKING_MAX_SLAM_CAMS] |
| Sinks to display cam frames in UI. More... | |
| struct m_ff_vec3_f32 * | gyro_ff |
| Used for displaying IMU data. More... | |
| struct m_ff_vec3_f32 * | accel_ff |
Same as gyro_ff More... | |
 Data Fields inherited from xrt_fs | |
| char | name [512] |
| Name of the frame server source, from the subsystem. More... | |
| char | product [32] |
| Frame server product identifier, matches the prober device. More... | |
| char | manufacturer [32] |
| Frame server manufacturer, matches the prober device. More... | |
| char | serial [32] |
| Frame server serial number, matches the prober device. More... | |
| uint64_t | source_id |
| All frames produced by this frameserver are tagged with this id. More... | |
| bool(* | enumerate_modes )(struct xrt_fs *xfs, struct xrt_fs_mode **out_modes, uint32_t *out_count) |
| Enumerate all available modes that this frameserver supports. More... | |
| bool(* | configure_capture )(struct xrt_fs *xfs, struct xrt_fs_capture_parameters *cp) |
| Set the capture parameters, may not be supported on all capture devices. More... | |
| bool(* | stream_start )(struct xrt_fs *xfs, struct xrt_frame_sink *xs, enum xrt_fs_capture_type capture_type, uint32_t descriptor_index) |
| Start the capture stream. More... | |
| bool(* | slam_stream_start )(struct xrt_fs *xfs, struct xrt_slam_sinks *sinks) |
| Setup SLAM sinks for all the sensors a SLAM implementation may supports and start the frame server stream. More... | |
| bool(* | stream_stop )(struct xrt_fs *xfs) |
| Stop the capture stream. More... | |
| bool(* | is_running )(struct xrt_fs *xfs) |
| Is the capture stream running. More... | |
| Data Fields inherited from xrt_frame_node | |
| struct xrt_frame_node * | next |
| void(* | break_apart )(struct xrt_frame_node *node) |
| Called first in when the graph is being destroyed, remove any references frames and other objects and stop threads. More... | |
| void(* | destroy )(struct xrt_frame_node *node) |
| Do the actual freeing of the objects. More... | |
Additional Inherited Members | |
| Public Member Functions inherited from xrt_fs | |
| static bool | xrt_fs_enumerate_modes (struct xrt_fs *xfs, struct xrt_fs_mode **out_modes, uint32_t *out_count) |
| Enumerate all available modes that this frameserver supports. More... | |
| static bool | xrt_fs_configure_capture (struct xrt_fs *xfs, struct xrt_fs_capture_parameters *cp) |
| Set the capture parameters, may not be supported on all capture devices. More... | |
| static bool | xrt_fs_stream_start (struct xrt_fs *xfs, struct xrt_frame_sink *xs, enum xrt_fs_capture_type capture_type, uint32_t descriptor_index) |
| Start the capture stream. More... | |
| static bool | xrt_fs_slam_stream_start (struct xrt_fs *xfs, struct xrt_slam_sinks *sinks) |
| Setup SLAM sinks for all the sensors a SLAM implementation may supports and start the frame server stream. More... | |
| static bool | xrt_fs_stream_stop (struct xrt_fs *xfs) |
| Stop the capture stream. More... | |
| static bool | xrt_fs_is_running (struct xrt_fs *xfs) |
| Is the capture stream running. More... | |
Detailed Description
Euroc player is in charge of the playback of a particular dataset.
Field Documentation
◆ accel_ff
| struct m_ff_vec3_f32* euroc_player::accel_ff |
Same as gyro_ff
◆ base_ts
| timepoint_ns euroc_player::base_ts |
First sample timestamp, stream timestamps are relative to this.
Referenced by euroc_player_mapped_ts(), and euroc_player_user_skip().
◆ cam_sinks
| struct xrt_frame_sink euroc_player::cam_sinks[XRT_TRACKING_MAX_SLAM_CAMS] |
Intermediate sink for each camera frames.
◆ dataset
| struct euroc_player_dataset_info euroc_player::dataset |
Contains information about the source dataset.
◆ gt
| gt_trajectory* euroc_player::gt |
List of all groundtruth poses read from the dataset.
◆ gyro_ff
| struct m_ff_vec3_f32* euroc_player::gyro_ff |
Used for displaying IMU data.
◆ img_seq
| uint64_t euroc_player::img_seq |
Next frame number to use, index in imgs[i].
Note that this expects that both cameras provide the same amount of frames. Furthermore, it is also expected that their timestamps match. Next frame number to use, index in imgs[i]
Referenced by euroc_player_get_stream_set(), and euroc_player_user_skip().
◆ imgs
| vector<img_samples>* euroc_player::imgs |
List of all image names to read from the dataset per camera.
Referenced by euroc_player_get_stream_set(), euroc_player_match_cams_seqs(), and euroc_player_user_skip().
◆ imu_seq
| uint64_t euroc_player::imu_seq |
Next imu sample number to use, index in imus
Referenced by euroc_player_get_stream_set(), and euroc_player_user_skip().
◆ imu_sink
| struct xrt_imu_sink euroc_player::imu_sink |
Intermediate sink for IMU samples.
◆ imus
| imu_samples* euroc_player::imus |
List of all IMU samples read from the dataset.
Referenced by euroc_player_get_stream_set(), and euroc_player_user_skip().
◆ in_sinks
| struct xrt_slam_sinks euroc_player::in_sinks |
Pointers to intermediate sinks.
◆ is_running
| bool euroc_player::is_running |
Set only at start, stop and end of frameserver stream.
◆ last_pause_ts
| timepoint_ns euroc_player::last_pause_ts |
Last time the stream was paused.
Referenced by euroc_player_pause_btn_cb().
◆ log_level
| enum u_logging_level euroc_player::log_level |
Log messages with this priority and onwards.
◆ mode
| struct xrt_fs_mode euroc_player::mode |
The only fs mode the euroc dataset provides.
◆ offset_ts
| timepoint_ns euroc_player::offset_ts |
Amount of ns to offset start_ns (pauses, skips, etc)
Referenced by euroc_player_mapped_ts(), euroc_player_pause_btn_cb(), and euroc_player_user_skip().
◆ out_sinks
| struct xrt_slam_sinks euroc_player::out_sinks |
Pointers to downstream sinks.
◆ playback
| struct euroc_player_playback_config euroc_player::playback |
Playback information.
Prefer to fill it before stream start
Referenced by euroc_player_mapped_playback_ts(), euroc_player_mapped_ts(), euroc_player_pause_btn_cb(), and euroc_player_user_skip().
◆ start_ts
| timepoint_ns euroc_player::start_ts |
When did the dataset started to be played.
Referenced by euroc_player_mapped_ts().
◆ ui_cam_sinks
| struct u_sink_debug euroc_player::ui_cam_sinks[XRT_TRACKING_MAX_SLAM_CAMS] |
Sinks to display cam frames in UI.
The documentation for this struct was generated from the following file:
- drivers/euroc/euroc_player.cpp
