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k4a: fixed playback fps and imu handling

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This commit is contained in:
matlabbe
2023-02-08 21:15:16 -08:00
parent 2acd8f82b5
commit 59d220c54f
1 changed files with 35 additions and 11 deletions
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46
corelib/src/camera/CameraK4A.cpp
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@@ -158,9 +158,25 @@ bool CameraK4A::init(const std::string & calibrationFolder, const std::string &
return false;
}
uint64_t recording_length = k4a_playback_get_last_timestamp_usec((k4a_playback_t)playbackHandle_);
uint64_t recording_length = k4a_playback_get_recording_length_usec((k4a_playback_t)playbackHandle_);
UINFO("Recording is %lld seconds long", recording_length / 1000000);
k4a_record_configuration_t config;
if(k4a_playback_get_record_configuration((k4a_playback_t)playbackHandle_, &config))
{
UERROR("Failed to get record configuration");
close();
return false;
}
if(this->getImageRate() < 0)
{
int rate =
config.camera_fps == K4A_FRAMES_PER_SECOND_5?5:
config.camera_fps == K4A_FRAMES_PER_SECOND_15?15:30;
UINFO("Recording framerate is %d fps", rate);
this->setImageRate(-float(rate));
}
if (k4a_playback_get_calibration((k4a_playback_t)playbackHandle_, &calibration_))
{
UERROR("Failed to get calibration");
@@ -501,6 +517,7 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
double stamp = UTimer::now();
uint64_t imageStamp = 0;
if(!bgrCV.empty())
{
// Retrieve depth image from capture
@@ -508,7 +525,8 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
if (depth_image_ != NULL)
{
double stampDevice = ((double)k4a_image_get_device_timestamp_usec(depth_image_)) / 1000000.0;
imageStamp = k4a_image_get_device_timestamp_usec(depth_image_);
double stampDevice = ((double)imageStamp) / 1000000.0;
if(timestampOffset_ == 0.0)
{
@@ -557,12 +575,19 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
k4a_capture_release(captureHandle_);
// Get IMU sample
if(playbackHandle_)
{
// Get IMU sample, clear buffer
// FIXME: not tested, uncomment when tested.
k4a_playback_seek_timestamp(playbackHandle_, stamp* 1000000+1, K4A_PLAYBACK_SEEK_BEGIN);
if(K4A_STREAM_RESULT_SUCCEEDED == k4a_playback_get_previous_imu_sample(playbackHandle_, &imu_sample_))
k4a_stream_result_t imu_res = K4A_STREAM_RESULT_FAILED;
k4a_imu_sample_t next_imu_sample;
while((K4A_STREAM_RESULT_SUCCEEDED == (imu_res=k4a_playback_get_next_imu_sample(playbackHandle_, &next_imu_sample))) &&
(next_imu_sample.gyro_timestamp_usec < imageStamp))
{
imu_sample_ = next_imu_sample;
}
if(imu_res == K4A_STREAM_RESULT_SUCCEEDED)
{
imu = IMU(cv::Vec3d(imu_sample_.gyro_sample.xyz.x, imu_sample_.gyro_sample.xyz.y, imu_sample_.gyro_sample.xyz.z),
cv::Mat::eye(3, 3, CV_64FC1),
@@ -577,7 +602,6 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
else
{
// Get IMU sample, clear buffer
if(K4A_WAIT_RESULT_SUCCEEDED == k4a_device_get_imu_sample(deviceHandle_, &imu_sample_, 60))
{
imu = IMU(cv::Vec3d(imu_sample_.gyro_sample.xyz.x, imu_sample_.gyro_sample.xyz.y, imu_sample_.gyro_sample.xyz.z),
@@ -610,8 +634,8 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
else if (previousStamp_ > 0)
{
float ratio = -this->getImageRate();
int sleepTime = 1000.0*(stamp - previousStamp_) / ratio - 1000.0*timer_.getElapsedTime();
double rateSec = -1.0/this->getImageRate();
int sleepTime = 1000.0*(rateSec - timer_.getElapsedTime());
if (sleepTime > 10000)
{
UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
@@ -624,14 +648,14 @@ SensorData CameraK4A::captureImage(CameraInfo * info)
}
// Add precision at the cost of a small overhead
while (timer_.getElapsedTime() < (stamp - previousStamp_) / ratio - 0.000001)
while (timer_.getElapsedTime() < rateSec - 0.000001)
{
//
}
double slept = timer_.getElapsedTime();
timer_.start();
UDEBUG("slept=%fs vs target=%fs (ratio=%f)", slept, (stamp - previousStamp_) / ratio, ratio);
UDEBUG("slept=%fs vs target=%fs", slept, rateSec);
}
previousStamp_ = stamp;
}