From fc0683f65ff3f1d2eab8068d6bd786318a2b097b Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <usenko.vladyslav@gmail.com>
Date: Sun, 4 Aug 2019 16:29:48 +0200
Subject: [PATCH] small changes to IO

---
 include/basalt/io/dataset_io.h        |  3 +--
 include/basalt/io/dataset_io_rosbag.h | 12 ++----------
 include/basalt/io/dataset_io_uzh.h    |  1 -
 src/io/dataset_io.cpp                 |  4 ++--
 4 files changed, 5 insertions(+), 15 deletions(-)

diff --git a/include/basalt/io/dataset_io.h b/include/basalt/io/dataset_io.h
index 70138b2..69d527c 100644
--- a/include/basalt/io/dataset_io.h
+++ b/include/basalt/io/dataset_io.h
@@ -150,8 +150,7 @@ typedef std::shared_ptr<DatasetIoInterface> DatasetIoInterfacePtr;
 
 class DatasetIoFactory {
  public:
-  static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type,
-                                            bool with_images = true);
+  static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type);
 };
 
 }  // namespace basalt
diff --git a/include/basalt/io/dataset_io_rosbag.h b/include/basalt/io/dataset_io_rosbag.h
index 1426da9..6b679da 100644
--- a/include/basalt/io/dataset_io_rosbag.h
+++ b/include/basalt/io/dataset_io_rosbag.h
@@ -165,7 +165,7 @@ class RosbagVioDataset : public VioDataset {
 
 class RosbagIO : public DatasetIoInterface {
  public:
-  RosbagIO(bool with_images) : with_images(with_images) {}
+  RosbagIO() {}
 
   void read(const std::string &path) {
     if (!fs::exists(path))
@@ -176,13 +176,7 @@ class RosbagIO : public DatasetIoInterface {
     data->bag.reset(new rosbag::Bag);
     data->bag->open(path, rosbag::bagmode::Read);
 
-    rosbag::View view(*data->bag, [this](const rosbag::ConnectionInfo *ci) {
-      if (this->with_images)
-        return true;
-      else
-        return ci->datatype == std::string("sensor_msgs/Imu") ||
-               ci->datatype == std::string("geometry_msgs/TransformStamped");
-    });
+    rosbag::View view(*data->bag);
 
     // get topics
     std::vector<const rosbag::ConnectionInfo *> connection_infos =
@@ -405,8 +399,6 @@ class RosbagIO : public DatasetIoInterface {
 
  private:
   std::shared_ptr<RosbagVioDataset> data;
-
-  bool with_images;
 };
 
 }  // namespace basalt
diff --git a/include/basalt/io/dataset_io_uzh.h b/include/basalt/io/dataset_io_uzh.h
index 658e1d6..05969e3 100644
--- a/include/basalt/io/dataset_io_uzh.h
+++ b/include/basalt/io/dataset_io_uzh.h
@@ -306,7 +306,6 @@ class UzhIO : public DatasetIoInterface {
           q.z() >> q.w();
 
       int64_t t_ns = timestamp * 1e9;
-      t_ns += -99902802;
 
       data->gt_timestamps.emplace_back(t_ns);
       data->gt_pose_data.emplace_back(q, pos);
diff --git a/src/io/dataset_io.cpp b/src/io/dataset_io.cpp
index fa9eee6..9656a02 100644
--- a/src/io/dataset_io.cpp
+++ b/src/io/dataset_io.cpp
@@ -41,12 +41,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 namespace basalt {
 
 DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo(
-    const std::string &dataset_type, bool with_images) {
+    const std::string &dataset_type) {
   if (dataset_type == "euroc") {
     // return DatasetIoInterfacePtr();
     return DatasetIoInterfacePtr(new EurocIO);
   } else if (dataset_type == "bag") {
-    return DatasetIoInterfacePtr(new RosbagIO(with_images));
+    return DatasetIoInterfacePtr(new RosbagIO);
   } else if (dataset_type == "uzh") {
     return DatasetIoInterfacePtr(new UzhIO);
   } else {