reader_tum.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef __READER_TUM_HPP
#define __READER_TUM_HPP
 
#include "reader_base.hpp"
 
namespace se {
 
class TUMReader : public Reader {
    public:
    TUMReader(const Config& c);
 
    ReaderStatus nextPose(Eigen::Isometry3f& T_WB);
 
 
    void restart();
 
 
    std::string name() const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    static constexpr float tum_inverse_scale_ = 1.0f / 5000.0f;
    float inverse_scale_;
 
    // TODO Allow setting the max_match_timestamp_dist_ and
    // max_interp_timestamp_dist_ at runtime from the YAML file. Not sure how
    // to handle this yet since they only apply to the TUM dataset reader.
    static constexpr double max_match_timestamp_dist_ = 0.02;
 
    static constexpr double max_interp_timestamp_dist_ = 10.0 * max_match_timestamp_dist_;
 
    std::vector<std::string> depth_filenames_;
 
    std::vector<std::string> rgb_filenames_;
 
    std::vector<Eigen::Isometry3f, Eigen::aligned_allocator<Eigen::Isometry3f>>
        associated_gt_poses_;
 
    ReaderStatus nextDepth(Image<float>& depth_image);
 
    ReaderStatus nextColour(Image<RGB>& colour_image);
};
 
 
 
} // namespace se
 
 
#endif