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t/euroc: Allow euroc recorder to start and stop recordings in the same session

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Mateo de Mayo 2023-08-23 13:46:17 -03:00 committed by Jakob Bornecrantz
parent cdcb4fbc57
commit 14c1ecc96e
2 changed files with 76 additions and 34 deletions
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89
src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
View file

@ -42,11 +42,11 @@ using std::filesystem::create_directories;
struct euroc_recorder
{
struct xrt_frame_node node;
string path; //!< Destination path for the dataset
string path_prefix; //!< Path for the dataset without datetime suffix
string path; //!< Full path of the current dataset being recorded or empty string if none
int cam_count = -1;
bool recording; //!< Whether samples are being recorded
bool files_created; //!< Whether the dataset directory structure has been created
struct u_var_button recording_btn; //!< UI button to start/stop `recording`
bool use_jpg; //! Whether or not we should save images as .jpg files
@ -84,14 +84,8 @@ struct euroc_recorder
*/
static void
euroc_recorder_try_mkfiles(struct euroc_recorder *er)
euroc_recorder_mkfiles(struct euroc_recorder *er)
{
// Create directory structure and files only once
if (er->files_created) {
return;
}
er->files_created = true;
string path = er->path;
create_directories(path + "/mav0/imu0");
@ -348,30 +342,15 @@ euroc_recorder_create(struct xrt_frame_context *xfctx, const char *record_path,
{
struct euroc_recorder *er = new euroc_recorder{};
er->recording = record_from_start;
er->cam_count = cam_count;
er->path_prefix = record_path == nullptr ? "euroc_recording" : record_path;
er->path = record_path == nullptr ? "" : record_path;
struct xrt_frame_node *xfn = &er->node;
xfn->break_apart = euroc_recorder_node_break_apart;
xfn->destroy = euroc_recorder_node_destroy;
xrt_frame_context_add(xfctx, xfn);
// Determine dataset path
if (record_path != nullptr) {
er->path = record_path;
} else {
time_t seconds = os_realtime_get_ns() / U_1_000_000_000;
constexpr size_t size = sizeof("YYYYMMDDHHmmss");
char datetime[size] = {0};
(void)strftime(datetime, size, "%Y%m%d%H%M%S", localtime(&seconds));
string default_path = string{"euroc_recording_"} + datetime;
er->path = default_path;
}
if (record_from_start) {
euroc_recorder_try_mkfiles(er);
}
er->use_jpg = debug_get_bool_option_euroc_recorder_use_jpg();
// Setup sink pipeline
@ -408,23 +387,69 @@ euroc_recorder_create(struct xrt_frame_context *xfctx, const char *record_path,
er->writer_gt_sink.push_pose = euroc_recorder_save_gt;
xrt_slam_sinks *public_sinks = &er->cloner_queues;
if (record_from_start) {
euroc_recorder_start(public_sinks);
}
return public_sinks;
}
extern "C" void
euroc_recorder_start(struct xrt_slam_sinks *er_sinks)
{
euroc_recorder *er = container_of(er_sinks, euroc_recorder, cloner_queues);
if (er->recording) {
U_LOG_W("We are already recording; unable to start.");
return;
}
// Create dataset directories with current datetime suffix
time_t seconds = os_realtime_get_ns() / U_1_000_000_000;
constexpr size_t size = sizeof("YYYYMMDDHHmmss");
char datetime[size] = {0};
(void)strftime(datetime, size, "%Y%m%d%H%M%S", localtime(&seconds));
string default_path = er->path_prefix + "_" + datetime;
er->path = default_path;
euroc_recorder_mkfiles(er);
er->recording = true;
}
extern "C" void
euroc_recorder_stop(struct xrt_slam_sinks *er_sinks)
{
euroc_recorder *er = container_of(er_sinks, euroc_recorder, cloner_queues);
if (!er->recording) {
U_LOG_W("We are already not recording; unable to stop.");
return;
}
er->path = "";
er->recording = false;
euroc_recorder_flush(er);
}
static void
euroc_recorder_btn_cb(void *ptr)
{
euroc_recorder *er = (euroc_recorder *)ptr;
euroc_recorder_try_mkfiles(er);
er->recording = !er->recording;
(void)snprintf(er->recording_btn.label, sizeof(er->recording_btn.label),
er->recording ? "Stop recording" : "Record EuRoC dataset");
if (er->recording) {
euroc_recorder_stop(&er->cloner_queues);
(void)snprintf(er->recording_btn.label, sizeof(er->recording_btn.label), "Record EuRoC dataset");
} else {
euroc_recorder_start(&er->cloner_queues);
(void)snprintf(er->recording_btn.label, sizeof(er->recording_btn.label), "Stop recording");
}
}
extern "C" void
euroc_recorder_add_ui(struct xrt_slam_sinks *public_sinks, void *root, const char *prefix)
euroc_recorder_add_ui(struct xrt_slam_sinks *er_sinks, void *root, const char *prefix)
{
euroc_recorder *er = container_of(public_sinks, euroc_recorder, cloner_queues);
euroc_recorder *er = container_of(er_sinks, euroc_recorder, cloner_queues);
er->recording_btn.cb = euroc_recorder_btn_cb;
er->recording_btn.ptr = er;

21
src/xrt/auxiliary/tracking/t_euroc_recorder.h
View file

@ -20,7 +20,7 @@ extern "C" {
#endif
/*!
* @brief Create SLAM sinks to record samples in EuRoC format.
* 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.
@ -33,6 +33,23 @@ extern "C" {
struct xrt_slam_sinks *
euroc_recorder_create(struct xrt_frame_context *xfctx, const char *record_path, int cam_count, bool record_from_start);
/*!
* Start recording samples sent to the recorder sinks.
*
* @param er 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 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.
*
@ -41,7 +58,7 @@ euroc_recorder_create(struct xrt_frame_context *xfctx, const char *record_path,
* @param prefix Prefix in case you have multiple recorders, otherwise pass an empty string
*/
void
euroc_recorder_add_ui(struct xrt_slam_sinks *er, void *root, const char *prefix);
euroc_recorder_add_ui(struct xrt_slam_sinks *er_sinks, void *root, const char *prefix);
#ifdef __cplusplus
}