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small changes to IO

This commit is contained in:
Vladyslav Usenko 2019-08-04 16:29:48 +02:00
parent 532809e1cf
commit fc0683f65f
4 changed files with 5 additions and 15 deletions
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3
include/basalt/io/dataset_io.h
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@ -150,8 +150,7 @@ typedef std::shared_ptr<DatasetIoInterface> DatasetIoInterfacePtr;
class DatasetIoFactory { class DatasetIoFactory {
public: public:
static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type, static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type);
bool with_images = true);
}; };
} // namespace basalt } // namespace basalt

12
include/basalt/io/dataset_io_rosbag.h
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@ -165,7 +165,7 @@ class RosbagVioDataset : public VioDataset {
class RosbagIO : public DatasetIoInterface { class RosbagIO : public DatasetIoInterface {
public: public:
RosbagIO(bool with_images) : with_images(with_images) {} RosbagIO() {}
void read(const std::string &path) { void read(const std::string &path) {
if (!fs::exists(path)) if (!fs::exists(path))
@ -176,13 +176,7 @@ class RosbagIO : public DatasetIoInterface {
data->bag.reset(new rosbag::Bag); data->bag.reset(new rosbag::Bag);
data->bag->open(path, rosbag::bagmode::Read); data->bag->open(path, rosbag::bagmode::Read);
rosbag::View view(*data->bag, [this](const rosbag::ConnectionInfo *ci) { rosbag::View view(*data->bag);
if (this->with_images)
return true;
else
return ci->datatype == std::string("sensor_msgs/Imu") ||
ci->datatype == std::string("geometry_msgs/TransformStamped");
});
// get topics // get topics
std::vector<const rosbag::ConnectionInfo *> connection_infos = std::vector<const rosbag::ConnectionInfo *> connection_infos =
@ -405,8 +399,6 @@ class RosbagIO : public DatasetIoInterface {
private: private:
std::shared_ptr<RosbagVioDataset> data; std::shared_ptr<RosbagVioDataset> data;
bool with_images;
}; };
} // namespace basalt } // namespace basalt

1
include/basalt/io/dataset_io_uzh.h
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@ -306,7 +306,6 @@ class UzhIO : public DatasetIoInterface {
q.z() >> q.w(); q.z() >> q.w();
int64_t t_ns = timestamp * 1e9; int64_t t_ns = timestamp * 1e9;
t_ns += -99902802;
data->gt_timestamps.emplace_back(t_ns); data->gt_timestamps.emplace_back(t_ns);
data->gt_pose_data.emplace_back(q, pos); data->gt_pose_data.emplace_back(q, pos);

4
src/io/dataset_io.cpp
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@ -41,12 +41,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace basalt { namespace basalt {
DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo( DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo(
const std::string &dataset_type, bool with_images) { const std::string &dataset_type) {
if (dataset_type == "euroc") { if (dataset_type == "euroc") {
// return DatasetIoInterfacePtr(); // return DatasetIoInterfacePtr();
return DatasetIoInterfacePtr(new EurocIO); return DatasetIoInterfacePtr(new EurocIO);
} else if (dataset_type == "bag") { } else if (dataset_type == "bag") {
return DatasetIoInterfacePtr(new RosbagIO(with_images)); return DatasetIoInterfacePtr(new RosbagIO);
} else if (dataset_type == "uzh") { } else if (dataset_type == "uzh") {
return DatasetIoInterfacePtr(new UzhIO); return DatasetIoInterfacePtr(new UzhIO);
} else { } else {