Function sensorInfo

okvis_ros/src/dataset_convertor.cpp:209–274

}

map<string, map<string, string>> sensorInfo(const ros::NodeHandle& nh) {
  cout << colouredString("\tRetrieving sensor list...", RED, REGULAR);

  vector<string> sensor_list;
  if (!nh.getParam(SENSOR_LIST, sensor_list)) {
    std::stringstream msg;
    msg << "FAIL! Missing \"" << SENSOR_LIST << "\" parameter. Check your yaml or launch file";
    cout << colouredString(msg.str(), RED, BACKGROUND) << endl;
    exit(EXIT_FAILURE);
  }
  cout << colouredString("\t[DONE!]", GREEN, REGULAR) << endl;

  cout << colouredString("\tRetrieving CSV filename...", RED, REGULAR);

  string csv_filename;
  if (!nh.getParam(CSVFILE, csv_filename)) {
    std::stringstream msg;
    msg << "FAIL! Missing \"" << CSVFILE << "\" parameter. Check your yaml or launch file";
    cout << colouredString(msg.str(), RED, BACKGROUND) << endl;
    exit(EXIT_FAILURE);
  }
  cout << colouredString("\t[DONE!]", GREEN, REGULAR) << endl;

  cout << colouredString("\tRetrieving sensor list...", RED, REGULAR);
  map<string, map<string, string>> topic2info;

  map<string, string> sensor_new_info;

  for (string sensor : sensor_list) {
    sensor_new_info.clear();

    std::stringstream ss;
    ss << INFO << "/" << sensor;
    map<string, string> sensor_params;

    if (!nh.getParam(ss.str(), sensor_params)) {
      std::stringstream msg;
      msg << "FAIL! Missing \"" << ss.str() << "\" parameter. Check your yaml or launch file";
      cout << colouredString(msg.str(), RED, BACKGROUND) << endl;
      exit(EXIT_FAILURE);
    }

    string topic = sensor_params[TOPIC];

    string csv_file_path = sensor + string("/") + csv_filename;

    sensor_new_info.insert(std::pair<string, string>(CSVFILE, csv_file_path));

    if (sensor_params.find(DATADIR) != sensor_params.end()) {
      string data_dir = sensor + string("/") + sensor_params[DATADIR];
      sensor_new_info.insert(std::pair<string, string>(DATADIR, data_dir));
    }

    string sensor_type = sensor_params[SENSOR_TYPE];

    sensor_new_info.insert(std::pair<string, string>(SENSOR_TYPE, sensor_type));

    sensor_new_info.insert(std::pair<string, string>(NAME, sensor));