File plugin.hpp

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#pragma once

#include "illixr/data_format/imu.hpp"
#include "illixr/data_format/opencv_data_types.hpp"
#include "illixr/phonebook.hpp"
#include "illixr/plugin.hpp"
#include "illixr/switchboard.hpp"

#include 
#include 

namespace ILLIXR {
class record_imu_cam : public plugin {
public:
    [[maybe_unused]] record_imu_cam(const std::string& name, phonebook* pb);
    void dump_data(const switchboard::ptr<const data_format::imu_type>& datum);
    ~record_imu_cam() override;

private:
    static boost::filesystem::path get_record_data_path();

    std::ofstream                      imu_wt_file_;
    std::ofstream                      cam0_wt_file_;
    std::ofstream                      cam1_wt_file_;
    const std::shared_ptr<switchboard> switchboard_;

    switchboard::buffered_reader<data_format::binocular_cam_type> cam_;

    const boost::filesystem::path record_data_;
    const boost::filesystem::path cam0_data_dir_;
    const boost::filesystem::path cam1_data_dir_;
};

} // namespace ILLIXR