| 782 | } |
| 783 | |
| 784 | void RosBaseDataProvider::printParsedParams() const { |
| 785 | LOG(INFO) << std::string(80, '=') << '\n' |
| 786 | << ">>>>>>>>> RosDataProvider::print <<<<<<<<<<<" << '\n' |
| 787 | << "camL_Pose_camR_: " << stereo_calib_.camL_Pose_camR_ << '\n' |
| 788 | << " - Left camera params: "; |
| 789 | stereo_calib_.left_camera_info_.print(); |
| 790 | LOG(INFO) << std::string(80, '=') << '\n' |
| 791 | << " - Right camera params:"; |
| 792 | stereo_calib_.right_camera_info_.print(); |
| 793 | LOG(INFO) << std::string(80, '=') << '\n' |
| 794 | << " - IMU info:"; |
| 795 | imu_data_.print(); |
| 796 | LOG(INFO) << std::string(80, '=') << '\n' |
| 797 | << " - IMU params:"; |
| 798 | pipeline_params_.imu_params_.print(); |
| 799 | LOG(INFO) << std::string(80, '=') << '\n' |
| 800 | << " - Backend params"; |
| 801 | pipeline_params_.backend_params_->print(); |
| 802 | LOG(INFO) << std::string(80, '='); |
| 803 | } |
| 804 | |
| 805 | // VIO output callback at keyframe rate |
| 806 | void RosBaseDataProvider::callbackKeyframeRateVioOutput( |
nothing calls this directly
no outgoing calls
no test coverage detected