se::TUMReader Class Reference

Reader for the TUM RGBD dataset. More...

#include <reader_tum.hpp>

Inheritance diagram for se::TUMReader:

Collaboration diagram for se::TUMReader:

Public Member Functions
	TUMReader (const Config &c)
	Construct a TUMReader from a Config.
ReaderStatus	nextPose (Eigen::Isometry3f &T_WB)
	Obtain the nextPose from the TUM RGBD dataset format.
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.
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 the TUM RGBD dataset.

https://vision.in.tum.de/data/datasets/rgbd-dataset

Constructor & Destructor Documentation

TUMReader()

se::TUMReader::TUMReader

(

const Config &

c

)

Construct a TUMReader from a Config.

Parameters

[in]

c

The configuration struct to use.

Member Function Documentation

nextPose()

ReaderStatus se::TUMReader::nextPose ( Eigen::Isometry3f &  T_WB )

virtual

Obtain the nextPose from the TUM RGBD dataset format.

Parameters

[in]

T_WB

Transformation from camera frame to world frame

Reimplemented from se::Reader.

restart()

void se::TUMReader::restart ( )

virtual

Restart reading from the beginning.

Implements se::Reader.

name()

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

virtual

The name of the reader.

Returns

The string "TUMReader".

Implements se::Reader.

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The documentation for this class was generated from the following file:

• app/include/reader_tum.hpp