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include/basalt/io/marg_data_io.h

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+
+#include <memory>
+#include <thread>
+
+#include <basalt/utils/imu_types.h>
+
+namespace basalt {
+
+class MargDataSaver {
+ public:
+  using Ptr = std::shared_ptr<MargDataSaver>;
+
+  MargDataSaver(const std::string& path);
+  ~MargDataSaver() {
+    saving_thread->join();
+    saving_img_thread->join();
+  }
+  tbb::concurrent_bounded_queue<MargData::Ptr> in_marg_queue;
+
+ private:
+  std::shared_ptr<std::thread> saving_thread;
+  std::shared_ptr<std::thread> saving_img_thread;
+
+  tbb::concurrent_bounded_queue<OpticalFlowResult::Ptr> save_image_queue;
+};
+
+class MargDataLoader {
+ public:
+  using Ptr = std::shared_ptr<MargDataLoader>;
+
+  MargDataLoader();
+
+  void start(const std::string& path);
+  ~MargDataLoader() {
+    if (processing_thread) processing_thread->join();
+  }
+
+  tbb::concurrent_bounded_queue<MargData::Ptr>* out_marg_queue;
+
+ private:
+  std::shared_ptr<std::thread> processing_thread;
+};
+}  // namespace basalt