t_euroc_recorder.h

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// Copyright 2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  EuRoC dataset recorder utility.
 * @author Mateo de Mayo <mateo.demayo@collabora.com>
 * @ingroup aux_tracking
 */
 
#pragma once
 
#include "xrt/xrt_tracking.h"
#include "xrt/xrt_frame.h"
 
#define CSV_EOL "\r\n"
#define CSV_PRECISION 10
 
#ifdef __cplusplus
extern "C" {
#endif
 
/*!
 * Create SLAM sinks to record samples in EuRoC format.
 *
 * @param xfctx Frame context for the sinks.
 * @param record_path Directory name to save the dataset or NULL for a default based on the current datetime.
 * @param cam_count Number of cameras to record
 * @param imu_count Number of IMU sensors to record
 * @param record_from_start Whether to start recording immediately on creation.
 * @return struct xrt_slam_sinks* Sinks to push samples to for recording.
 *
 * @ingroup aux_tracking
 */
struct 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);
 
/*!
 * Start recording samples sent to the recorder sinks.
 *
 * @param er_sinks The recorder sinks returned by @ref euroc_recorder_create
 */
void
euroc_recorder_start(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.
 *
 * @param er_sinks The recorder sinks returned by @ref euroc_recorder_create
 */
void
euroc_recorder_stop(struct xrt_slam_sinks *er_sinks);
 
/*!
 * Add EuRoC recorder UI button to start recording after creation.
 *
 * @param er_sinks The sinks returned by @ref euroc_recorder_create
 * @param root The pointer to add UI button to
 * @param prefix Prefix in case you have multiple recorders, otherwise pass an empty string
 */
void
euroc_recorder_add_ui(struct xrt_slam_sinks *er_sinks, void *root, const char *prefix);
 
#ifdef __cplusplus
}
#endif