Method RosbagDataProvider

src/rosbag-data-source.cpp:15–55

namespace VIO {

RosbagDataProvider::RosbagDataProvider()
    : RosBaseDataProvider(), rosbag_data_() {
  ROS_INFO("Starting SparkVIO wrapper for offline");

  std::string rosbag_path;
  CHECK(nh_private_.getParam("rosbag_path", rosbag_path));
  std::string left_camera_topic;
  CHECK(nh_private_.getParam("left_cam_rosbag_topic", left_camera_topic));
  std::string right_camera_topic;
  CHECK(nh_private_.getParam("right_cam_rosbag_topic", right_camera_topic));
  std::string imu_topic;
  CHECK(nh_private_.getParam("imu_rosbag_topic", imu_topic));
  std::string ground_truth_odometry_topic;
  CHECK(nh_private_.getParam("ground_truth_odometry_rosbag_topic",
                             ground_truth_odometry_topic));

  CHECK(!rosbag_path.empty());
  CHECK(!left_camera_topic.empty());
  CHECK(!right_camera_topic.empty());
  CHECK(!imu_topic.empty());

  // Ros publishers specific to rosbag data provider
  clock_pub_ = nh_.advertise<rosgraph_msgs::Clock>("/clock", 10);
  /// Advertise to the same topic than what it was writen in the rosbag.
  gt_odometry_pub_ = nh_.advertise<nav_msgs::Odometry>(
        ground_truth_odometry_topic, 10);

  // Parse data from rosbag
  CHECK(parseRosbag(rosbag_path,
                    left_camera_topic,
                    right_camera_topic,
                    imu_topic,
                    ground_truth_odometry_topic,
                    &rosbag_data_));

  if (pipeline_params_.backend_params_->autoInitialize_ == 0) {
    LOG(WARNING) << "Using initial ground-truth state for initialization.";
    pipeline_params_.backend_params_->initial_ground_truth_state_ =
        getGroundTruthVioNavState(0); // Send first gt state.
  }
}

RosbagDataProvider::~RosbagDataProvider() {}