EuRoC dataset recorder utility. More...

#include "t_euroc_recorder.h"
#include "os/os_time.h"
#include "util/u_frame.h"
#include "util/u_sink.h"
#include "util/u_var.h"
#include "util/u_debug.h"
#include "xrt/xrt_defines.h"
#include "xrt/xrt_tracking.h"
#include "xrt/xrt_config_have.h"
#include <cassert>
#include <ctime>
#include <filesystem>
#include <fstream>
#include <mutex>
#include <string>
#include <queue>
#include <iomanip>
#include <opencv2/imgcodecs.hpp>

Include dependency graph for t_euroc_recorder.cpp:

Data Structures
struct	euroc_recorder

Macros
#define	DEFINE_SAVE_IMU(imu_id)

#define	USE_SAVE_IMU(imu_id) euroc_recorder_save_imu##imu_id,

#define	DEFINE_SAVE_CAM(cam_id)

#define	USE_SAVE_CAM(cam_id) euroc_recorder_save_cam##cam_id,

#define	DEFINE_RECEIVE_IMU(imu_id)

#define	DEFINE_RECEIVE_CAM(cam_id)

#define	USE_RECEIVE_CAM(cam_id) euroc_recorder_receive_cam##cam_id,

Functions
static void	euroc_recorder_mkfiles (struct euroc_recorder *er)

static void	euroc_recorder_flush (struct euroc_recorder *er)

static void	euroc_recorder_save_imu_sample (struct euroc_recorder er, struct xrt_imu_sample sample, int imu_index)

void	euroc_recorder_save_gt (xrt_pose_sink sink, struct xrt_pose_sample sample)

static void	euroc_recorder_save_frame (euroc_recorder er, struct xrt_frame frame, int cam_index)

static void	euroc_recorder_receive_imu_sample (struct euroc_recorder er, struct xrt_imu_sample sample, int i)

void	euroc_recorder_receive_imu0 (struct xrt_imu_sink sink, struct xrt_imu_sample sample)

void	euroc_recorder_receive_imu1 (struct xrt_imu_sink sink, struct xrt_imu_sample sample)

void	euroc_recorder_receive_imu2 (struct xrt_imu_sink sink, struct xrt_imu_sample sample)

void	euroc_recorder_receive_gt (xrt_pose_sink sink, struct xrt_pose_sample sample)

static void	euroc_recorder_receive_frame (euroc_recorder er, struct xrt_frame src_frame, int cam_index)

void	euroc_recorder_node_break_apart (struct xrt_frame_node *node)

void	euroc_recorder_node_destroy (struct xrt_frame_node *node)

xrt_slam_sinks *	euroc_recorder_create (struct xrt_frame_context xfctx, const char record_path, int cam_count, int imu_count, bool record_from_start)
	Create SLAM sinks to record samples in EuRoC format.

void	euroc_recorder_start (struct xrt_slam_sinks *er_sinks)
	Start recording samples sent to the recorder sinks.

void	euroc_recorder_stop (struct xrt_slam_sinks *er_sinks)
	Stop recording samples sent to the recorder sinks.

static void	euroc_recorder_btn_cb (void *ptr)

void	euroc_recorder_add_ui (struct xrt_slam_sinks er_sinks, void root, const char *prefix)
	Add EuRoC recorder UI button to start recording after creation.

Variables
static void(*	euroc_recorder_save_imu [XRT_TRACKING_MAX_IMUS])(struct xrt_imu_sink sink, struct xrt_imu_sample sample)

static void(*	euroc_recorder_save_cam [XRT_TRACKING_MAX_CAMS])(struct xrt_frame_sink sink, struct xrt_frame frame)

static void(*	euroc_recorder_receive_imu [XRT_TRACKING_MAX_IMUS])(struct xrt_imu_sink sink, struct xrt_imu_sample sample)
	Be sure to define the same number of defined functions as XRT_TRACKING_MAX_IMUS and to add them to to euroc_recorder_receive_imu.

static void(*	euroc_recorder_receive_cam [XRT_TRACKING_MAX_CAMS])(struct xrt_frame_sink , struct xrt_frame )

Detailed Description

EuRoC dataset recorder utility.

Author: Mateo de Mayo mateo.nosp@m..dem.nosp@m.ayo@c.nosp@m.olla.nosp@m.bora..nosp@m.com

Macro Definition Documentation

◆ DEFINE_RECEIVE_CAM

#define DEFINE_RECEIVE_CAM ( cam_id )

Value:

        extern "C" void euroc_recorder_receive_cam##cam_id(struct xrt_frame_sink *sink, struct xrt_frame *frame)       \
        {                                                                                                              \
                euroc_recorder *er = container_of(sink, euroc_recorder, cloner_sinks[cam_id]);                         \
                euroc_recorder_receive_frame(er, frame, cam_id);                                                       \
        }

◆ DEFINE_RECEIVE_IMU

#define DEFINE_RECEIVE_IMU ( imu_id )

Value:

        extern "C" void euroc_recorder_receive_imu##imu_id(struct xrt_imu_sink *sink, struct xrt_imu_sample *sample)   \
        {                                                                                                              \
                euroc_recorder *er = container_of(sink, euroc_recorder, cloner_imu_sinks[imu_id]);                     \
                euroc_recorder_receive_imu_sample(er, sample, imu_id);                                                 \
        }

◆ DEFINE_SAVE_CAM

#define DEFINE_SAVE_CAM ( cam_id )

Value:

        extern "C" void euroc_recorder_save_cam##cam_id(struct xrt_frame_sink *sink, struct xrt_frame *frame)          \
        {                                                                                                              \
                euroc_recorder *er = container_of(sink, euroc_recorder, writer_sinks[cam_id]);                         \
                if (cam_id == 0) {                                                                                     \
                        euroc_recorder_flush(er);                                                                      \
                }                                                                                                      \
                euroc_recorder_save_frame(er, frame, cam_id);                                                          \
        }

◆ DEFINE_SAVE_IMU

#define DEFINE_SAVE_IMU ( imu_id )

Value:

        extern "C" void euroc_recorder_save_imu##imu_id(struct xrt_imu_sink *sink, struct xrt_imu_sample *sample)      \
        {                                                                                                              \
                euroc_recorder *er = container_of(sink, euroc_recorder, writer_imu_sinks[imu_id]);                     \
                euroc_recorder_save_imu_sample(er, sample, imu_id);                                                    \
        }

Function Documentation

◆ euroc_recorder_add_ui()

void euroc_recorder_add_ui	(	struct xrt_slam_sinks *	er_sinks,
		void *	root,
		const char *	prefix
	)

Add EuRoC recorder UI button to start recording after creation.

Parameters

er_sinks	The sinks returned by euroc_recorder_create
root	The pointer to add UI button to
prefix	Prefix in case you have multiple recorders, otherwise pass an empty string

References u_var_button::cb, container_of, u_var_button::ptr, euroc_recorder::recording, and euroc_recorder::recording_btn.

Referenced by wmr_source_create().

◆ euroc_recorder_start()

void euroc_recorder_start ( struct xrt_slam_sinks * er_sinks )

Start recording samples sent to the recorder sinks.

Parameters

er_sinks The recorder sinks returned by euroc_recorder_create

References container_of, os_realtime_get_ns(), euroc_recorder::path, euroc_recorder::path_prefix, euroc_recorder::recording, U_1_000_000_000, and U_LOG_W.

Referenced by euroc_recorder_create().

◆ euroc_recorder_stop()

void euroc_recorder_stop ( struct xrt_slam_sinks * er_sinks )

Stop recording samples sent to the recorder sinks.

You can start and stop as many times as you like.

Parameters

er_sinks The recorder sinks returned by euroc_recorder_create

References container_of, euroc_recorder::path, euroc_recorder::recording, and U_LOG_W.

Variable Documentation

◆ euroc_recorder_receive_cam

void(* euroc_recorder_receive_cam[XRT_TRACKING_MAX_CAMS])(struct xrt_frame_sink , struct xrt_frame )	(	struct xrt_frame_sink *	,
		struct xrt_frame *
	)

static

Initial value:

= {

XRT_TRACKING_FOR_EACH_CAM(USE_RECEIVE_CAM)}

◆ euroc_recorder_receive_imu

void(* euroc_recorder_receive_imu[XRT_TRACKING_MAX_IMUS])(struct xrt_imu_sink sink, struct xrt_imu_sample sample)	(	struct xrt_imu_sink *	sink,
		struct xrt_imu_sample *	sample
	)

static

Initial value:

= {
    euroc_recorder_receive_imu0, 
    euroc_recorder_receive_imu1, 
    euroc_recorder_receive_imu2, 
}

Be sure to define the same number of defined functions as XRT_TRACKING_MAX_IMUS and to add them to to euroc_recorder_receive_imu.

Referenced by euroc_recorder_create().

◆ euroc_recorder_save_cam

void(* euroc_recorder_save_cam[XRT_TRACKING_MAX_CAMS])(struct xrt_frame_sink sink, struct xrt_frame frame)	(	struct xrt_frame_sink *	sink,
		struct xrt_frame *	frame
	)

static

Initial value:

= {

XRT_TRACKING_FOR_EACH_CAM(USE_SAVE_CAM)}

◆ euroc_recorder_save_imu

void(* euroc_recorder_save_imu[XRT_TRACKING_MAX_IMUS])(struct xrt_imu_sink sink, struct xrt_imu_sample sample)	(	struct xrt_imu_sink *	sink,
		struct xrt_imu_sample *	sample
	)

static

Initial value:

= {

XRT_TRACKING_FOR_EACH_IMU(USE_SAVE_IMU)}

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ DEFINE_RECEIVE_CAM

◆ DEFINE_RECEIVE_IMU

◆ DEFINE_SAVE_CAM

◆ DEFINE_SAVE_IMU

Function Documentation

◆ euroc_recorder_add_ui()

◆ euroc_recorder_start()

◆ euroc_recorder_stop()

Variable Documentation

◆ euroc_recorder_receive_cam

◆ euroc_recorder_receive_imu

◆ euroc_recorder_save_cam

◆ euroc_recorder_save_imu