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d/euroc: Use new debug frame sinks

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Mateo de Mayo 2021-09-20 11:38:58 -03:00 committed by Jakob Bornecrantz
parent 967efb4a12
commit 0b7f3d92ef
1 changed files with 14 additions and 8 deletions
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22
src/xrt/drivers/euroc/euroc_player.cpp
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@ -13,6 +13,7 @@
#include "util/u_debug.h" #include "util/u_debug.h"
#include "util/u_misc.h" #include "util/u_misc.h"
#include "util/u_var.h" #include "util/u_var.h"
#include "util/u_sink.h"
#include "tracking/t_frame_cv_mat_wrapper.hpp" #include "tracking/t_frame_cv_mat_wrapper.hpp"
#include "math/m_filter_fifo.h" #include "math/m_filter_fifo.h"
@ -106,8 +107,10 @@ struct euroc_player
struct u_var_button start_btn; struct u_var_button start_btn;
struct u_var_button pause_btn; struct u_var_button pause_btn;
char progress_text[128]; char progress_text[128];
struct m_ff_vec3_f32 *gyro_ff; //!< Used for displaying IMU data struct u_sink_debug ui_left_sink; //!< Sink to display left frames in UI
struct m_ff_vec3_f32 *accel_ff; //!< Same as `gyro_ff` struct u_sink_debug ui_right_sink; //!< Sink to display right frames in UI
struct m_ff_vec3_f32 *gyro_ff; //!< Used for displaying IMU data
struct m_ff_vec3_f32 *accel_ff; //!< Same as `gyro_ff`
}; };
static void static void
@ -477,6 +480,7 @@ receive_left_frame(struct xrt_frame_sink *sink, struct xrt_frame *xf)
{ {
struct euroc_player *ep = container_of(sink, struct euroc_player, left_sink); struct euroc_player *ep = container_of(sink, struct euroc_player, left_sink);
EUROC_TRACE(ep, "left img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp); EUROC_TRACE(ep, "left img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
u_sink_debug_push_frame(&ep->ui_left_sink, xf);
if (ep->out_sinks.left) { if (ep->out_sinks.left) {
xrt_sink_push_frame(ep->out_sinks.left, xf); xrt_sink_push_frame(ep->out_sinks.left, xf);
} }
@ -487,6 +491,7 @@ receive_right_frame(struct xrt_frame_sink *sink, struct xrt_frame *xf)
{ {
struct euroc_player *ep = container_of(sink, struct euroc_player, right_sink); struct euroc_player *ep = container_of(sink, struct euroc_player, right_sink);
EUROC_TRACE(ep, "right img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp); EUROC_TRACE(ep, "right img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
u_sink_debug_push_frame(&ep->ui_right_sink, xf);
if (ep->out_sinks.right) { if (ep->out_sinks.right) {
xrt_sink_push_frame(ep->out_sinks.right, xf); xrt_sink_push_frame(ep->out_sinks.right, xf);
} }
@ -589,7 +594,8 @@ euroc_player_destroy(struct xrt_frame_node *node)
delete ep->right_imgs; delete ep->right_imgs;
u_var_remove_root(ep); u_var_remove_root(ep);
u_sink_debug_destroy(&ep->ui_left_sink);
u_sink_debug_destroy(&ep->ui_right_sink);
m_ff_vec3_f32_free(&ep->gyro_ff); m_ff_vec3_f32_free(&ep->gyro_ff);
m_ff_vec3_f32_free(&ep->accel_ff); m_ff_vec3_f32_free(&ep->accel_ff);
@ -651,7 +657,9 @@ euroc_player_pause_btn_cb(void *ptr)
static void static void
euroc_player_setup_gui(struct euroc_player *ep) euroc_player_setup_gui(struct euroc_player *ep)
{ {
// Set fifo queues for display IMU data // Set sinks to display in UI
u_sink_debug_init(&ep->ui_left_sink);
u_sink_debug_init(&ep->ui_right_sink);
m_ff_vec3_f32_alloc(&ep->gyro_ff, 1000); m_ff_vec3_f32_alloc(&ep->gyro_ff, 1000);
m_ff_vec3_f32_alloc(&ep->accel_ff, 1000); m_ff_vec3_f32_alloc(&ep->accel_ff, 1000);
@ -683,10 +691,8 @@ euroc_player_setup_gui(struct euroc_player *ep)
u_var_add_gui_header(ep, NULL, "Streams"); u_var_add_gui_header(ep, NULL, "Streams");
u_var_add_ro_ff_vec3_f32(ep, ep->gyro_ff, "Gyroscope"); u_var_add_ro_ff_vec3_f32(ep, ep->gyro_ff, "Gyroscope");
u_var_add_ro_ff_vec3_f32(ep, ep->accel_ff, "Accelerometer"); u_var_add_ro_ff_vec3_f32(ep, ep->accel_ff, "Accelerometer");
#if 0 u_var_add_sink_debug(ep, &ep->ui_left_sink, "Left Camera");
u_var_add_sink(ep, &ep->in_sinks.left, "Left Camera"); u_var_add_sink_debug(ep, &ep->ui_right_sink, "Right Camera");
u_var_add_sink(ep, &ep->in_sinks.right, "Right Camera");
#endif
} }
// Euroc driver creation // Euroc driver creation