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aux/tracking: remove MatFrame class from t_tracker_slam

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This commit is contained in:
Simon Zeni 2023-12-20 21:16:57 -05:00
parent 1264f385b0
commit 0cb96a1643
1 changed files with 6 additions and 105 deletions
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111
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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@ -108,101 +108,6 @@ using timing_sample = vector<timepoint_ns>;
using xrt::auxiliary::math::RelationHistory;
using cv::Mat;
using cv::MatAllocator;
using cv::UMatData;
using cv::UMatUsageFlags;
#define USING_OPENCV_3_3_1 (CV_VERSION_MAJOR == 3 && CV_VERSION_MINOR == 3 && CV_VERSION_REVISION == 1)
#if defined(XRT_HAVE_KIMERA) && !USING_OPENCV_3_3_1
#pragma message "Kimera-VIO uses OpenCV 3.3.1, use that to prevent conflicts"
#endif
//! @todo These defs should make OpenCV 4 work but it wasn't tested against a
//! SLAM system that supports that version yet.
#if CV_VERSION_MAJOR < 4
#define ACCESS_RW 0
typedef int AccessFlag;
#define CV_AUTOSTEP 0x7fffffff // From opencv2/core/core_c.h
#else
using cv::ACCESS_RW;
using cv::AccessFlag;
#define CV_AUTOSTEP cv::Mat::AUTO_STEP
#endif
/*!
* @brief Wraps a @ref xrt_frame with a `cv::Mat` (conversely to @ref FrameMat).
*
* It works by implementing a `cv::MatAllocator` which determines what to do
* when a `cv::Mat` refcount reaches zero. In that case, it decrements the @ref
* xrt_frame refcount once the `cv::Mat` own refcount has reached zero.
*
* @note a @ref MatFrame `cv::Mat` can wrap a @ref FrameMat @ref xrt_frame,
* which in turns wraps a `cv::Mat`, with little overhead, and that is precisely
* how it is being used in this file when the @ref xrt_frame is a @ref FrameMat.
*/
class MatFrame final : public MatAllocator
{
public:
//! Wraps a @ref xrt_frame in a `cv::Mat`
Mat
wrap(struct xrt_frame *frame)
{
SLAM_DASSERT_(frame->format == XRT_FORMAT_L8 || frame->format == XRT_FORMAT_R8G8B8);
auto img_type = frame->format == XRT_FORMAT_L8 ? CV_8UC1 : CV_8UC3;
// Wrap the frame data into a cv::Mat header
cv::Mat img{(int)frame->height, (int)frame->width, img_type, frame->data, frame->stride};
// Enable reference counting for a user-allocated cv::Mat (i.e., using existing frame->data)
img.u = this->allocate(img.dims, img.size.p, img.type(), img.data, img.step.p, ACCESS_RW,
cv::USAGE_DEFAULT);
SLAM_DASSERT_(img.u->refcount == 0);
img.addref();
// Keep a reference to the xrt_frame in the cv userdata field for when the cv::Mat reference reaches 0
SLAM_DASSERT_(img.u->userdata == NULL); // Should be default-constructed
xrt_frame_reference((struct xrt_frame **)&img.u->userdata, frame);
return img;
}
//! Allocates a `cv::UMatData` object which is in charge of reference counting for a `cv::Mat`
UMatData *
allocate(
int dims, const int *sizes, int type, void *data0, size_t *step, AccessFlag, UMatUsageFlags) const override
{
SLAM_DASSERT_(dims == 2 && sizes && data0 && step && step[0] != CV_AUTOSTEP);
UMatData *u = new UMatData(this);
uchar *data = (uchar *)data0;
u->data = u->origdata = data;
u->size = step[0] * sizes[0]; // Row stride * row count
u->flags |= UMatData::USER_ALLOCATED; // External data
return u;
}
//! Necessary but unused virtual method for a `cv::MatAllocator`
bool
allocate(UMatData *, AccessFlag, UMatUsageFlags) const override
{
SLAM_ASSERT(false, "Shouldn't be reached");
return false;
}
//! When `cv::UMatData` refcount reaches zero this method is called, we just
//! decrement the original @ref xrt_frame refcount as it is the one in charge
//! of the memory.
void
deallocate(UMatData *u) const override
{
SLAM_DASSERT_(u->urefcount == 0 && u->refcount == 0);
SLAM_DASSERT_(u->flags & UMatData::USER_ALLOCATED);
xrt_frame_reference((struct xrt_frame **)&u->userdata, NULL);
delete u;
}
};
/*
*
@ -362,7 +267,6 @@ struct TrackerSlam
struct u_var_button reset_state_btn; //!< Reset tracker state button
enum u_logging_level log_level; //!< Logging level for the SLAM tracker, set by SLAM_LOG var
MatFrame *cv_wrapper; //!< Wraps a xrt_frame in a cv::Mat to send to the SLAM system
struct xrt_slam_sinks *euroc_recorder; //!< EuRoC dataset recording sinks
struct openvr_tracker *ovr_tracker; //!< OpenVR lighthouse tracker
@ -1441,16 +1345,15 @@ receive_frame(TrackerSlam &t, struct xrt_frame *frame, uint32_t cam_index)
last_ts = ts;
// Construct and send the image sample
cv::Mat img = t.cv_wrapper->wrap(frame);
vit_img_sample sample = {};
sample.cam_index = cam_index;
sample.timestamp = ts;
sample.data = img.ptr();
sample.width = img.cols;
sample.height = img.rows;
sample.stride = img.step;
sample.size = img.cols * img.rows;
sample.data = frame->data;
sample.width = frame->width;
sample.height = frame->height;
sample.stride = frame->stride;
sample.size = frame->size;
// TODO check format before
switch (frame->format) {
@ -1534,8 +1437,6 @@ t_slam_node_destroy(struct xrt_frame_node *node)
m_ff_vec3_f32_free(&t.filter.pos_ff);
m_ff_vec3_f32_free(&t.filter.rot_ff);
delete t_ptr->cv_wrapper;
t_ptr->vit.tracker_destroy(t_ptr->tracker);
t_vit_bundle_unload(&t_ptr->vit);