Method initialize

mola_kernel/src/interfaces/RawDataSourceBase.cpp:66–122

}

void RawDataSourceBase::initialize(const Yaml& cfg)
{
  MRPT_TRY_START

  // Handle optional sensor preview GUI:
  if (cfg.has("gui_preview_sensors"))
  {
    auto ds_preview = cfg["gui_preview_sensors"];
    for (const auto& s : ds_preview.asSequence())
    {
      auto       sensor     = mrpt::containers::yaml(s);
      const auto label      = sensor["raw_sensor_label"].as<std::string>();
      const auto decimation = sensor.getOrDefault<unsigned int>("decimation", 1);
      const auto win_pos    = sensor.getOrDefault<std::string>("win_pos", "");

      // store here to help computing sensor rate in the GUI
      sensor["sensor_rate_decimation"] = decimation;

      // Allow quickly disabling sections:
      if (!sensor.getOrDefault("enabled", true))
      {
        continue;
      }

      ASSERTMSG_(
          sensor_preview_gui_.find(label) == sensor_preview_gui_.end(),
          mrpt::format("Duplicated sensor label in `gui_preview_sensors`: `%s`", label.c_str()));
      auto& sv = sensor_preview_gui_[label] =
          mrpt::make_impl<RawDataSourceBase::SensorViewerImpl>();

      sv->decimation       = decimation;
      sv->sensor_label     = label;
      sv->win_pos          = win_pos;
      sv->extra_parameters = sensor;
      // sv->win: Create a window when the sensor actually publishes.
    }
  }

  // Handle optional export to rawlog file
  if (auto fil = cfg.getOrDefault<std::string>("export_to_rawlog", ""); !fil.empty())
  {
    MRPT_LOG_INFO_STREAM("Exporting to rawlog file: " << fil);
    if (!export_to_rawlog_out_.open(fil))
    {
      THROW_EXCEPTION_FMT("Error opening for write: `%s`", fil.c_str());
    }
  }

  // Optional force load lazy-load observations:
  YAML_LOAD_MEMBER_OPT(force_load_lazy_load, bool);
  YAML_LOAD_MEMBER_OPT(quit_mola_app_on_dataset_end, bool);

  // children params:
  this->initialize_rds(cfg);

  MRPT_TRY_END
}