Reader for Leica style datasets. More...

#include <reader_leica.hpp>

Inheritance diagram for se::LeicaReader:

Collaboration diagram for se::LeicaReader:

Public Member Functions
	LeicaReader (const Config &c)
	Construct a LeicaReader from a Config.

void	restart ()
	Restart reading from the beginning.

std::string	name () const
	The name of the reader.

Public Member Functions inherited from se::Reader
	Reader (const Config &c)
	Construct a Reader from a Config.

virtual	~Reader ()

ReaderStatus	nextData (Image< float > &depth_image)
	Read the next depth image.

ReaderStatus	nextData (Image< float > &depth_image, Eigen::Isometry3f &T_WB)
	Read the next depth image and ground truth pose.

ReaderStatus	nextData (Image< float > &depth_image, Image< RGB > &colour_image)
	Read the next depth and colour images.

ReaderStatus	nextData (Eigen::Vector3f &ray_measurement, Eigen::Isometry3f &T_WB)
	Read the next ray and ground truth pose.

ReaderStatus	nextData (const float batch_interval, std::vector< std::pair< Eigen::Isometry3f, Eigen::Vector3f >, Eigen::aligned_allocator< std::pair< Eigen::Isometry3f, Eigen::Vector3f > > > &rayPoseBatch)
	Read the next batch of rays and ground truth poses.

ReaderStatus	nextData (Image< float > &depth_image, Image< RGB > &colour_image, Eigen::Isometry3f &T_WB)
	Read the next depth and colour images and ground truth pose.

ReaderStatus	getPose (Eigen::Isometry3f &T_WB, const size_t frame)
	Read the ground truth pose at the provided frame number.

bool	good () const
	The state of the reader.

size_t	frame () const
	The current frame number.

size_t	numFrames () const
	The total number of frames in the current dataset.

Eigen::Vector2i	depthImageRes () const
	The dimensions of the depth images.

Eigen::Vector2i	colourImageRes () const
	The dimensions of the colour images.

bool	isLiveReader () const
	Whether the reader uses a live camera as input.

bool	hasColour () const
	Return whether the loaded dataset contains colour images.

Additional Inherited Members
Static Public Member Functions inherited from se::Reader
static ReaderStatus	mergeStatus (ReaderStatus status_1, ReaderStatus status_2)
	Merge se::ReaderStatus values keeping the worst one.

Protected Member Functions inherited from se::Reader
ReaderStatus	readPose (Eigen::Isometry3f &T_WB, const size_t frame, const char delimiter=' ')
	Read the ground truth pose at the provided frame number.

virtual ReaderStatus	nextColour (Image< RGB > &colour_image)
	Read the next colour image into `colour_image`.

Protected Attributes inherited from se::Reader
std::string	sequence_path_

std::string	ground_truth_file_

std::ifstream	ground_truth_fs_

Eigen::Vector2i	depth_image_res_

Eigen::Vector2i	colour_image_res_

float	fps_

double	spf_

bool	drop_frames_

int	verbose_

bool	is_live_reader_

ReaderStatus	status_

size_t	frame_
	The frame_ is initialized to SIZE_MAX, so that when first incremented it becomes 0.

size_t	num_frames_

bool	has_colour_

Detailed Description

Reader for Leica style datasets.

Lidar csv ts | x | y | z | intensity

Constructor & Destructor Documentation

◆ LeicaReader()

se::LeicaReader::LeicaReader ( const Config & c )

Construct a LeicaReader from a Config.

Parameters

[in] c The configuration struct to use.

Member Function Documentation

◆ restart()

void se::LeicaReader::restart ( )

virtual

Restart reading from the beginning.

Implements se::Reader.

◆ name()

std::string se::LeicaReader::name ( ) const

virtual

The name of the reader.

Returns: The string "LeicaReader".