t_euroc_recorder.cpp File Reference

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 <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_CAM(cam_id)
#define	DEFINE_RECEIVE_CAM(cam_id)

Functions
static void	euroc_recorder_mkfiles (struct euroc_recorder *er)
static void	euroc_recorder_flush (struct euroc_recorder *er)
void	euroc_recorder_save_imu (xrt_imu_sink *sink, struct xrt_imu_sample *sample)
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)
void	euroc_recorder_save_cam0 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_save_cam1 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_save_cam2 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_save_cam3 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_save_cam4 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_receive_imu (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_receive_cam0 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_receive_cam1 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_receive_cam2 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_receive_cam3 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
void	euroc_recorder_receive_cam4 (struct xrt_frame_sink *sink, struct xrt_frame *frame)
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, bool record_from_start)
	Create SLAM sinks to record samples in EuRoC format. More...
void	euroc_recorder_start (struct xrt_slam_sinks *er_sinks)
	Start recording samples sent to the recorder sinks. More...
void	euroc_recorder_stop (struct xrt_slam_sinks *er_sinks)
	Stop recording samples sent to the recorder sinks. More...
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. More...

Variables
static void(*	euroc_recorder_save_cam [XRT_TRACKING_MAX_SLAM_CAMS])(struct xrt_frame_sink *sink, struct xrt_frame *frame)
	Be sure to define the same number of defined functions as XRT_TRACKING_MAX_SLAM_CAMS and to add them to to euroc_recorder_save_cam. More...
static void(*	euroc_recorder_receive_cam [XRT_TRACKING_MAX_SLAM_CAMS])(struct xrt_frame_sink *, struct xrt_frame *)
	Be sure to define the same number of defined functions as XRT_TRACKING_MAX_SLAM_CAMS and to add them to to euroc_recorder_receive_cam. More...

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_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);                                                          \
        }

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, and euroc_recorder::recording_btn.

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.

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_SLAM_CAMS])(struct xrt_frame_sink *, struct xrt_frame *) ( struct xrt_frame_sink *  , struct xrt_frame *    )

static

Initial value:

= {
    euroc_recorder_receive_cam0, 
    euroc_recorder_receive_cam1, 
    euroc_recorder_receive_cam2, 
    euroc_recorder_receive_cam3, 
    euroc_recorder_receive_cam4, 
}

Be sure to define the same number of defined functions as XRT_TRACKING_MAX_SLAM_CAMS and to add them to to euroc_recorder_receive_cam.

euroc_recorder_save_cam

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

static

Initial value:

= {
    euroc_recorder_save_cam0, 
    euroc_recorder_save_cam1, 
    euroc_recorder_save_cam2, 
    euroc_recorder_save_cam3, 
    euroc_recorder_save_cam4, 
}

Be sure to define the same number of defined functions as XRT_TRACKING_MAX_SLAM_CAMS and to add them to to euroc_recorder_save_cam.