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t/slam: Enable some tracing

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This commit is contained in:
Jakob Bornecrantz 2023-04-30 00:32:58 +01:00
parent c0cc22e101
commit 2b921ab673
1 changed files with 14 additions and 0 deletions
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14
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
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@ -16,6 +16,7 @@
#include "util/u_misc.h"
#include "util/u_sink.h"
#include "util/u_var.h"
#include "util/u_trace_marker.h"
#include "os/os_threading.h"
#include "math/m_api.h"
#include "math/m_filter_fifo.h"
@ -844,6 +845,8 @@ flush_poses(TrackerSlam &t)
static void
predict_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
{
XRT_TRACE_MARKER();
bool valid_pred_type = t.pred_type >= SLAM_PRED_NONE && t.pred_type <= SLAM_PRED_SP_SO_IA_IL;
SLAM_DASSERT(valid_pred_type, "Invalid prediction type (%d)", t.pred_type);
@ -901,6 +904,8 @@ predict_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *ou
static void
filter_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
{
XRT_TRACE_MARKER();
if (t.filter.use_moving_average_filter) {
if (out_relation->relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
xrt_vec3 pos = out_relation->pose.position;
@ -1131,6 +1136,8 @@ using namespace xrt::auxiliary::tracking::slam;
extern "C" void
t_slam_get_tracked_pose(struct xrt_tracked_slam *xts, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
{
XRT_TRACE_MARKER();
auto &t = *container_of(xts, TrackerSlam, base);
//! @todo This should not be cached, the same timestamp can be requested at a
@ -1160,6 +1167,8 @@ t_slam_get_tracked_pose(struct xrt_tracked_slam *xts, timepoint_ns when_ns, stru
extern "C" void
t_slam_gt_sink_push(struct xrt_pose_sink *sink, xrt_pose_sample *sample)
{
XRT_TRACE_MARKER();
auto &t = *container_of(sink, TrackerSlam, gt_sink);
if (t.gt.trajectory->empty()) {
@ -1175,6 +1184,8 @@ t_slam_gt_sink_push(struct xrt_pose_sink *sink, xrt_pose_sample *sample)
extern "C" void
t_slam_receive_imu(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
{
XRT_TRACE_MARKER();
auto &t = *container_of(sink, TrackerSlam, imu_sink);
timepoint_ns ts = s->timestamp_ns;
@ -1205,6 +1216,8 @@ t_slam_receive_imu(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
static void
receive_frame(TrackerSlam &t, struct xrt_frame *frame, int cam_index)
{
XRT_TRACE_MARKER();
if (cam_index == 1) {
flush_poses(t); // Useful to flush SLAM poses when no openxr app is open
}
@ -1215,6 +1228,7 @@ receive_frame(TrackerSlam &t, struct xrt_frame *frame, int cam_index)
SLAM_DASSERT_(frame->timestamp < INT64_MAX);
img_sample sample{(int64_t)frame->timestamp, img, cam_index};
if (t.submit) {
XRT_TRACE_IDENT(slam_push);
t.slam->push_frame(sample);
}
SLAM_TRACE("cam%d frame t=%lu", cam_index, frame->timestamp);