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Add option --start-offset #169

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merged 1 commit into from
Sep 30, 2023
Merged

Add option --start-offset #169

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9 changes: 9 additions & 0 deletions src/run_slam_offline.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
const std::string& color_topic,
const std::string& depth_topic,
const std::string& bag_storage_id,
const double start_offset,
const bool no_sleep,
const std::string& viewer_string) {
auto& SLAM = slam_ros->slam_;
Expand Down Expand Up @@ -108,6 +109,12 @@ void tracking(const std::shared_ptr<stella_vslam_ros::system>& slam_ros,
storage_options.storage_id = bag_storage_id;
rosbag2_cpp::Reader reader;
reader.open(storage_options);
auto metadata = reader.get_metadata();
auto starting_time = std::chrono::duration_cast<std::chrono::nanoseconds>(
metadata.starting_time.time_since_epoch())
.count()
+ start_offset * 1e9;
reader.seek(starting_time);
rclcpp::Serialization<sensor_msgs::msg::Image> serialization;
std::queue<std::shared_ptr<sensor_msgs::msg::Image>> que;
double track_time;
Expand Down Expand Up @@ -290,6 +297,7 @@ int main(int argc, char* argv[]) {
auto color_topic = op.add<popl::Value<std::string>>("", "color", "color image topic name for RGBD", "camera/color/image_raw");
auto depth_topic = op.add<popl::Value<std::string>>("", "depth", "depth image topic name for RGBD", "camera/depth/image_raw");
auto bag_storage_id = op.add<popl::Value<std::string>>("", "storage-id", "rosbag2 storage id (default: sqlite3)", "sqlite3");
auto start_offset = op.add<popl::Value<double>>("", "start-offset", "start offset", 0.0);
auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");
auto setting_file_path = op.add<popl::Value<std::string>>("c", "config", "setting file path");
auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");
Expand Down Expand Up @@ -430,6 +438,7 @@ int main(int argc, char* argv[]) {
color_topic->value(),
depth_topic->value(),
bag_storage_id->value(),
start_offset->value(),
no_sleep->is_set(),
viewer_string);

Expand Down