dataset_convertor.cpp File Reference

Source file for the VioParametersReader class. More...

#include <vector>
#include <map>
#include <memory>
#include <stdio.h>
#include <iostream>
#include <fstream>
#include <algorithm>
#include <ros/ros.h>
#include <ros/console.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <rosbag/chunked_file.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/TransformStamped.h>
#include <boost/foreach.hpp>
#include <boost/filesystem.hpp>
#include <boost/filesystem/path.hpp>

Functions
void	signalHandler (int s)
string	colouredString (string str, string colour, string option)
bool	createDirs (string folderPath, map< string, map< string, string >> sensor_info)
void	writeCameraHeader (shared_ptr< ofstream > file)
void	writeImuHeader (shared_ptr< ofstream > file)
void	writeViconHeader (shared_ptr< ofstream > file)
void	writeCSVHeaders (map< string, shared_ptr< ofstream >> &files, const map< string, map< string, string >> &sensor_info)
map< string, shared_ptr < ofstream > >	openFileStreams (const string folder_path, map< string, map< string, string >> &sensor_info)
map< string, map< string, string > >	sensorInfo (const ros::NodeHandle &nh)
void	writeCSVCamera (shared_ptr< ofstream > file, ros::Time stamp)
void	writeCSVImu (shared_ptr< ofstream > file, sensor_msgs::Imu::ConstPtr imu)
void	writeCSVVicon (shared_ptr< ofstream > file, geometry_msgs::TransformStamped::ConstPtr vicon)
bool	isTopicInMap (map< string, map< string, string > > &topic2info, string topic_name)
bool	findTopicInMap (map< string, map< string, string > > &topic2info, string topic_name, map< string, map< string, string > >::iterator &element)
int	main (int argc, char **argv)

Variables
const string	RESET = "\033[0m"
const string	BLACK = "0m"
const string	RED = "1m"
const string	GREEN = "2m"
const string	BOLD = "\033[1;3"
const string	REGULAR = "\033[0;3"
const string	UNDERLINE = "\033[4;3"
const string	BACKGROUND = "\033[4"
const int	DOUBLE_PRECISION = 17
const string	SENSOR_LIST = "sensors"
const string	CSVFILE = "data_file"
const string	DATADIR = "data_dir"
const string	SENSOR_TYPE = "type"
const string	INFO = "info"
const string	TOPIC = "topic"
const string	NAME = "name"
const string	CAMERA = "camera"
const string	IMU = "imu"
const string	VICON = "vicon"
const string	configDirectoryName = "/config/"
const string	cam0DirectoryName = "/cam0"
const string	cam1DirectoryName = "/cam1"
const string	imuDirectoryName = "/imu0"
const string	imuFileName = "imu0.csv"
std::ofstream	imu_file_

Detailed Description

Source file for the VioParametersReader class.

Author

Stefan Leutenegger

Andrea Nicastro

Function Documentation

string colouredString	(	string	str,
		string	colour,
		string	option
	)

bool createDirs	(	string	folderPath,
		map< string, map< string, string >>	sensor_info
	)

bool findTopicInMap	(	map< string, map< string, string > > &	topic2info,
		string	topic_name,
		map< string, map< string, string > >::iterator &	element
	)

bool isTopicInMap	(	map< string, map< string, string > > &	topic2info,
		string	topic_name
	)

int main	(	int	argc,
		char **	argv
	)

map<string, shared_ptr<ofstream> > openFileStreams	(	const string	folder_path,
		map< string, map< string, string >> &	sensor_info
	)

map<string, map<string, string> > sensorInfo

(

const ros::NodeHandle &

nh

)

void signalHandler

(

int

s

)

void writeCameraHeader

(

shared_ptr< ofstream >

file

)

void writeCSVCamera	(	shared_ptr< ofstream >	file,
		ros::Time	stamp
	)

void writeCSVHeaders	(	map< string, shared_ptr< ofstream >> &	files,
		const map< string, map< string, string >> &	sensor_info
	)

void writeCSVImu	(	shared_ptr< ofstream >	file,
		sensor_msgs::Imu::ConstPtr	imu
	)

void writeCSVVicon	(	shared_ptr< ofstream >	file,
		geometry_msgs::TransformStamped::ConstPtr	vicon
	)

void writeImuHeader

(

shared_ptr< ofstream >

file

)

void writeViconHeader

(

shared_ptr< ofstream >

file

)

Variable Documentation

const string BACKGROUND = "\033[4"

const string BLACK = "0m"

const string BOLD = "\033[1;3"

const string cam0DirectoryName = "/cam0"

const string cam1DirectoryName = "/cam1"

const string CAMERA = "camera"

const string configDirectoryName = "/config/"

Todo:

: obsolete! delete

const string CSVFILE = "data_file"

const string DATADIR = "data_dir"

const int DOUBLE_PRECISION = 17

const string GREEN = "2m"

const string IMU = "imu"

std::ofstream imu_file_

const string imuDirectoryName = "/imu0"

const string imuFileName = "imu0.csv"

const string INFO = "info"

const string NAME = "name"

const string RED = "1m"

const string REGULAR = "\033[0;3"

const string RESET = "\033[0m"

const string SENSOR_LIST = "sensors"

const string SENSOR_TYPE = "type"

const string TOPIC = "topic"

const string UNDERLINE = "\033[4;3"

const string VICON = "vicon"