Function main

okvis_ros/src/okvis_node_synchronous.cpp:76–375

this is just a workbench. most of the stuff here will go into the Frontend class.

// this is just a workbench. most of the stuff here will go into the Frontend class.
int main(int argc, char** argv) {
  rclcpp::init(argc, argv);
  rclcpp::NodeOptions options;
  options.allow_undeclared_parameters(true);
  options.automatically_declare_parameters_from_overrides(true);

  google::InitGoogleLogging(argv[0]);
  FLAGS_stderrthreshold = 0;  // INFO: 0, WARNING: 1, ERROR: 2, FATAL: 3
  FLAGS_colorlogtostderr = 1;

  if (argc != 3 && argc != 4) {
    LOG(ERROR) << "Usage: ./" << argv[0] << " configuration-yaml-file bag-to-read-from [skip-first-seconds]";
    return -1;
  }

  okvis::Duration deltaT(0.0);
  if (argc == 4) {
    deltaT = okvis::Duration(atof(argv[3]));
  }

  // set up the node
  auto node = std::make_shared<rclcpp::Node>("okvis_node", options);

  // publisher
  okvis::Publisher publisher(node);

  // read configuration file
  std::string configFilename(argv[1]);

  okvis::RosParametersReader vio_parameters_reader(configFilename);
  okvis::VioParameters parameters;
  vio_parameters_reader.getParameters(parameters);

  okvis::ThreadedKFVio okvis_estimator(parameters);

  // okvis_estimator.setFullStateCallback(std::bind(&okvis::Publisher::publishFullStateAsCallback,&publisher,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3,std::placeholders::_4));
  okvis_estimator.setFullStateCallback(std::bind(&okvis::Publisher::publishFullStateAsCallback,
                                                 &publisher,
                                                 std::placeholders::_1,
                                                 std::placeholders::_2,
                                                 std::placeholders::_3,
                                                 std::placeholders::_4));
  okvis_estimator.setLandmarksCallback(std::bind(&okvis::Publisher::publishLandmarksAsCallback,
                                                 &publisher,
                                                 std::placeholders::_1,
                                                 std::placeholders::_2,
                                                 std::placeholders::_3));
  okvis_estimator.setStateCallback(
      std::bind(&okvis::Publisher::publishStateAsCallback, &publisher, std::placeholders::_1, std::placeholders::_2));
  okvis_estimator.setKeyframeCallback(std::bind(&okvis::Publisher::publishKeyframeAsCallback,
                                                &publisher,
                                                std::placeholders::_1,
                                                std::placeholders::_2,
                                                std::placeholders::_3,
                                                std::placeholders::_4));
  okvis_estimator.setBlocking(true);
  publisher.setParameters(parameters);  // pass the specified publishing stuff