| 32 | stereo_matching_params_(stereo_matching_params) {} |
| 33 | |
| 34 | DataProviderModule::InputUniquePtr DataProviderModule::getInputPacket() { |
| 35 | // Look for a left frame inside the queue. |
| 36 | bool queue_state = false; |
| 37 | Frame::UniquePtr left_frame_payload = nullptr; |
| 38 | if (PIO::parallel_run_) { |
| 39 | queue_state = left_frame_queue_.popBlocking(left_frame_payload); |
| 40 | } else { |
| 41 | queue_state = left_frame_queue_.pop(left_frame_payload); |
| 42 | } |
| 43 | |
| 44 | if (!queue_state) { |
| 45 | LOG_IF(WARNING, PIO::parallel_run_) |
| 46 | << "Module: " << name_id_ << " - queue is down"; |
| 47 | VLOG_IF(1, !PIO::parallel_run_) |
| 48 | << "Module: " << name_id_ << " - queue is empty or down"; |
| 49 | return nullptr; |
| 50 | } |
| 51 | |
| 52 | CHECK(left_frame_payload); |
| 53 | const Timestamp& timestamp = left_frame_payload->timestamp_; |
| 54 | |
| 55 | // Look for the synchronized right frame inside the queue. |
| 56 | Frame::UniquePtr right_frame_payload = nullptr; |
| 57 | PIO::syncQueue(timestamp, &right_frame_queue_, &right_frame_payload); |
| 58 | CHECK(right_frame_payload); |
| 59 | |
| 60 | // Extract imu measurements between consecutive frames. |
| 61 | static Timestamp timestamp_last_frame = 0; |
| 62 | if (timestamp_last_frame == 0) { |
| 63 | // TODO(Toni): wouldn't it be better to get all IMU measurements up to this |
| 64 | // timestamp? We should add a method to the IMU buffer for that. |
| 65 | VLOG(1) << "Skipping first frame, because we do not have a concept of " |
| 66 | "a previous frame timestamp otherwise."; |
| 67 | timestamp_last_frame = timestamp; |
| 68 | return nullptr; |
| 69 | } |
| 70 | |
| 71 | ImuMeasurements imu_meas; |
| 72 | CHECK_LT(timestamp_last_frame, timestamp); |
| 73 | utils::ThreadsafeImuBuffer::QueryResult query_result = |
| 74 | utils::ThreadsafeImuBuffer::QueryResult::kDataNeverAvailable; |
| 75 | bool log_error_once = true; |
| 76 | while ( |
| 77 | (query_result = imu_data_.imu_buffer_.getImuDataInterpolatedUpperBorder( |
| 78 | timestamp_last_frame, |
| 79 | timestamp, |
| 80 | &imu_meas.timestamps_, |
| 81 | &imu_meas.acc_gyr_)) != |
| 82 | utils::ThreadsafeImuBuffer::QueryResult::kDataAvailable) { |
| 83 | VLOG(1) << "No IMU data available. Reason:\n"; |
| 84 | switch (query_result) { |
| 85 | case utils::ThreadsafeImuBuffer::QueryResult::kDataAvailable: { |
| 86 | LOG(FATAL) << "We should not be inside this while loop if IMU data is " |
| 87 | "available..."; |
| 88 | break; |
| 89 | } |
| 90 | case utils::ThreadsafeImuBuffer::QueryResult::kQueueShutdown: { |
| 91 | LOG(INFO) |
nothing calls this directly
no test coverage detected