Function main

okvis_ros/src/dataset_convertor.cpp:346–476

}

int main(int argc, char** argv) {
  cout << colouredString("Initializing ROS node:", RED, BOLD) << endl;

  ros::init(argc, argv, "dataset_converter");

  ros::NodeHandle nh;

  cout << colouredString("DONE!", GREEN, BOLD) << endl;

  cout << colouredString("Initializing sensor information:", RED, BOLD) << endl;

  map<string, map<string, string>> topic2info_map = sensorInfo(nh);

  cout << colouredString("DONE!", GREEN, BOLD) << endl;

  cout << colouredString("Creating folders:", RED, BOLD) << endl;

  string path(argv[1]);
  size_t pos = path.find_last_of("/");
  size_t pos_dot = path.find_last_of(".");

  string bagname;
  string bagpath;
  if (pos == string::npos) {
    cout << colouredString(
                "Relative path are not supported. Use an absolute path instead."
                "For example: roslaunch okvis_ros convert_datasert.launch bag:= /absolute/path/here",
                RED,
                BOLD)
         << endl;
    exit(EXIT_FAILURE);
  } else {
    bagname = path.substr(pos + 1, pos_dot - pos - 1);
    bagpath = path.substr(0, pos + 1);
  }

  if (!createDirs(bagpath + bagname, topic2info_map)) {
    cout << colouredString("FAILED!", RED, BACKGROUND);
    exit(EXIT_FAILURE);
  } else {
    cout << colouredString("DONE!", GREEN, BOLD) << endl;
  }
  cout << colouredString("Reading bag:", RED, BOLD) << endl;

  rosbag::Bag bag;
  cout << colouredString("\tOpening bag...", RED, REGULAR);
  bag.open(argv[1], rosbag::bagmode::Read);
  cout << colouredString("\t[DONE!]", GREEN, REGULAR) << endl;

  cout << colouredString("\tQuering topics bag...", RED, REGULAR);

  vector<string> topic_list;

  rosbag::View view(bag);

  vector<const rosbag::ConnectionInfo*> bag_info = view.getConnections();
  std::set<string> bag_topics;