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misc: Fix some release build warnings and minor changes

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- Add CMakeUserPresets.json to .gitignore
- Fix DASSERTs warning for release builds
- Do not use one euro filter with invalid poses
- Other NFC style changes
This commit is contained in:
Mateo de Mayo 2022-03-04 10:00:55 -03:00 committed by Jakob Bornecrantz
parent e889ee7562
commit af2dde11c3
5 changed files with 67 additions and 40 deletions
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1
.gitignore vendored
View file

@ -50,6 +50,7 @@ build*/
*.autosave
.vs
CMakeSettings.json
CMakeUserPresets.json
# Ignore merge-conflict resolution files
*.orig

2
src/xrt/auxiliary/tracking/t_euroc_recorder.cpp
View file

@ -23,6 +23,8 @@
#include <opencv2/imgcodecs.hpp>
//! @todo: Now that IMU sinks support groundtruth, we could save it here as well.
using std::ofstream;
using std::queue;
using std::string;

98
src/xrt/auxiliary/tracking/t_tracker_slam.cpp
View file

@ -43,8 +43,8 @@
// Debug assertions, not vital but useful for finding errors
#ifdef NDEBUG
#define SLAM_DASSERT(predicate, ...)
#define SLAM_DASSERT_(predicate)
#define SLAM_DASSERT(predicate, ...) (void)(predicate)
#define SLAM_DASSERT_(predicate) (void)(predicate)
#else
#define SLAM_DASSERT(predicate, ...) SLAM_ASSERT(predicate, __VA_ARGS__)
#define SLAM_DASSERT_(predicate) SLAM_ASSERT_(predicate)
@ -57,7 +57,7 @@ DEBUG_GET_ONCE_LOG_OPTION(slam_log, "SLAM_LOG", U_LOGGING_WARN)
DEBUG_GET_ONCE_OPTION(slam_config, "SLAM_CONFIG", NULL)
//! Whether to submit data to the SLAM tracker without user action
DEBUG_GET_ONCE_BOOL_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", true)
DEBUG_GET_ONCE_BOOL_OPTION(slam_submit_from_start, "SLAM_SUBMIT_FROM_START", false)
//! Namespace for the interface to the external SLAM tracking system
@ -84,7 +84,7 @@ typedef int AccessFlag;
#else
using cv::ACCESS_RW;
using cv::AccessFlag;
#define CV_AUTOSTEP cv::Mat::AUTO_STEP;
#define CV_AUTOSTEP cv::Mat::AUTO_STEP
#endif
/*!
@ -248,6 +248,13 @@ struct TrackerSlam
} filter;
};
/*
*
* Tracker functionality
*
*/
//! Dequeue all tracked poses from the SLAM system and update prediction data with them.
static bool
flush_poses(TrackerSlam &t)
@ -394,15 +401,61 @@ filter_pose(TrackerSlam &t, timepoint_ns when_ns, struct xrt_space_relation *out
if (t.filter.use_one_euro_filter) {
xrt_pose &p = out_relation->pose;
m_filter_euro_vec3_run(&t.filter.pos_oe, when_ns, &p.position, &p.position);
m_filter_euro_quat_run(&t.filter.rot_oe, when_ns, &p.orientation, &p.orientation);
if (out_relation->relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
m_filter_euro_vec3_run(&t.filter.pos_oe, when_ns, &p.position, &p.position);
}
if (out_relation->relation_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
m_filter_euro_quat_run(&t.filter.rot_oe, when_ns, &p.orientation, &p.orientation);
}
}
}
static void
setup_ui(TrackerSlam &t)
{
t.pred_combo.count = PREDICTION_COUNT;
t.pred_combo.options = "None\0Interpolate SLAM poses\0Also gyro\0Also accel (needs gravity correction)\0\0";
t.pred_combo.value = (int *)&t.pred_type;
m_ff_vec3_f32_alloc(&t.gyro_ff, 1000);
m_ff_vec3_f32_alloc(&t.accel_ff, 1000);
m_ff_vec3_f32_alloc(&t.filter.pos_ff, 1000);
m_ff_vec3_f32_alloc(&t.filter.rot_ff, 1000);
u_var_add_root(&t, "SLAM Tracker", true);
u_var_add_log_level(&t, &t.log_level, "Log Level");
u_var_add_bool(&t, &t.submit, "Submit data to SLAM");
u_var_add_bool(&t, &t.euroc_record, "Record as EuRoC");
u_var_add_gui_header(&t, NULL, "Trajectory Filter");
u_var_add_bool(&t, &t.filter.use_moving_average_filter, "Enable moving average filter");
u_var_add_f64(&t, &t.filter.window, "Window size (ms)");
u_var_add_bool(&t, &t.filter.use_exponential_smoothing_filter, "Enable exponential smoothing filter");
u_var_add_f32(&t, &t.filter.alpha, "Smoothing factor");
u_var_add_bool(&t, &t.filter.use_one_euro_filter, "Enable one euro filter");
u_var_add_f32(&t, &t.filter.pos_oe.base.fc_min, "Position minimum cutoff");
u_var_add_f32(&t, &t.filter.pos_oe.base.beta, "Position beta speed");
u_var_add_f32(&t, &t.filter.pos_oe.base.fc_min_d, "Position minimum delta cutoff");
u_var_add_f32(&t, &t.filter.rot_oe.base.fc_min, "Orientation minimum cutoff");
u_var_add_f32(&t, &t.filter.rot_oe.base.beta, "Orientation beta speed");
u_var_add_f32(&t, &t.filter.rot_oe.base.fc_min_d, "Orientation minimum delta cutoff");
u_var_add_gui_header(&t, NULL, "Prediction");
u_var_add_combo(&t, &t.pred_combo, "Prediction Type");
u_var_add_ro_ff_vec3_f32(&t, t.gyro_ff, "Gyroscope");
u_var_add_ro_ff_vec3_f32(&t, t.accel_ff, "Accelerometer");
u_var_add_f32(&t, &t.gravity_correction.z, "Gravity Correction");
}
} // namespace xrt::auxiliary::tracking::slam
using namespace xrt::auxiliary::tracking::slam;
/*
*
* External functions
*
*/
//! Get a filtered prediction from the SLAM tracked poses.
extern "C" void
t_slam_get_tracked_pose(struct xrt_tracked_slam *xts, timepoint_ns when_ns, struct xrt_space_relation *out_relation)
@ -450,7 +503,7 @@ t_slam_imu_sink_push(struct xrt_imu_sink *sink, struct xrt_imu_sample *s)
m_ff_vec3_f32_push(t.accel_ff, &accel, ts);
// Check monotonically increasing timestamps
SLAM_DASSERT(ts > t.last_imu_ts, "Sample (%ld) is older than last (%ld)", ts, t.last_imu_ts)
SLAM_DASSERT(ts > t.last_imu_ts, "Sample (%ld) is older than last (%ld)", ts, t.last_imu_ts);
t.last_imu_ts = ts;
}
@ -604,36 +657,7 @@ t_slam_create(struct xrt_frame_context *xfctx, struct xrt_tracked_slam **out_xts
m_filter_euro_vec3_init(&t.filter.pos_oe, t.filter.min_cutoff, t.filter.beta, t.filter.min_dcutoff);
m_filter_euro_quat_init(&t.filter.rot_oe, t.filter.min_cutoff, t.filter.beta, t.filter.min_dcutoff);
// Setup UI
t.pred_combo.count = PREDICTION_COUNT;
t.pred_combo.options = "None\0SP SO SA SL\0SP SO IA SL\0SP SO IA IL\0\0";
t.pred_combo.value = (int *)&t.pred_type;
m_ff_vec3_f32_alloc(&t.gyro_ff, 1000);
m_ff_vec3_f32_alloc(&t.accel_ff, 1000);
m_ff_vec3_f32_alloc(&t.filter.pos_ff, 1000);
m_ff_vec3_f32_alloc(&t.filter.rot_ff, 1000);
u_var_add_root(&t, "SLAM Tracker", true);
u_var_add_log_level(&t, &t.log_level, "Log Level");
u_var_add_bool(&t, &t.submit, "Submit data to SLAM");
u_var_add_bool(&t, &t.euroc_record, "Record as EuRoC");
u_var_add_gui_header(&t, NULL, "Trajectory Filter");
u_var_add_bool(&t, &t.filter.use_moving_average_filter, "Enable moving average filter");
u_var_add_f64(&t, &t.filter.window, "Window size (ms)");
u_var_add_bool(&t, &t.filter.use_exponential_smoothing_filter, "Enable exponential smoothing filter");
u_var_add_f32(&t, &t.filter.alpha, "Smoothing factor");
u_var_add_bool(&t, &t.filter.use_one_euro_filter, "Enable one euro filter");
u_var_add_f32(&t, &t.filter.pos_oe.base.fc_min, "Position minimum cutoff");
u_var_add_f32(&t, &t.filter.pos_oe.base.beta, "Position beta speed");
u_var_add_f32(&t, &t.filter.pos_oe.base.fc_min_d, "Position minimum delta cutoff");
u_var_add_f32(&t, &t.filter.rot_oe.base.fc_min, "Orientation minimum cutoff");
u_var_add_f32(&t, &t.filter.rot_oe.base.beta, "Orientation beta speed");
u_var_add_f32(&t, &t.filter.rot_oe.base.fc_min_d, "Orientation minimum delta cutoff");
u_var_add_gui_header(&t, NULL, "Prediction");
u_var_add_combo(&t, &t.pred_combo, "Prediction Type");
u_var_add_ro_ff_vec3_f32(&t, t.gyro_ff, "Gyroscope");
u_var_add_ro_ff_vec3_f32(&t, t.accel_ff, "Accelerometer");
u_var_add_f32(&t, &t.gravity_correction.z, "Gravity Correction");
setup_ui(t);
*out_xts = &t.base;
*out_sink = &t.sinks;

2
src/xrt/drivers/euroc/euroc_player.cpp
View file

@ -867,7 +867,7 @@ euroc_player_create(struct xrt_frame_context *xfctx, const char *path)
ep->in_sinks.left = &ep->left_sink;
ep->in_sinks.right = &ep->right_sink;
ep->in_sinks.imu = &ep->imu_sink;
ep->out_sinks = {0, 0, 0};
ep->out_sinks = {0, 0, 0, 0};
struct xrt_fs *xfs = &ep->base;
xfs->enumerate_modes = euroc_player_enumerate_modes;

4
src/xrt/drivers/realsense/rs_hdev.c
View file

@ -82,8 +82,8 @@
// Debug assertions, not vital but useful for finding errors
#ifdef NDEBUG
#define RS_DASSERT(predicate, ...)
#define RS_DASSERT_(predicate)
#define RS_DASSERT(predicate, ...) (void)(predicate)
#define RS_DASSERT_(predicate) (void)(predicate)
#else
#define RS_DASSERT(predicate, ...) RS_ASSERT(predicate, __VA_ARGS__)
#define RS_DASSERT_(predicate) RS_ASSERT_(predicate)