#include <reader_base.hpp>

Public Member Functions
void	readYaml (const std::string &filename)
	Reads the struct members from the "reader" node of a YAML file.

Public Attributes
ReaderType	reader_type = se::ReaderType::RAW
	The type of the dataset reader to use.

std::string	sequence_path
	The path to the dataset.

std::string	ground_truth_file
	The path to the ground truth file.

float	inverse_scale = 0.0f
	The scaling factor to convert depth values to metres.

float	fps = 0.0f
	The rate in Hz at which dataset frames are read.

bool	drop_frames = false
	Whether to drop frames when they can't be processed fast enough.

int	verbose = 0
	The verbosity level of dataset readers.

Eigen::Isometry3f	T_BL = Eigen::Isometry3f::Identity()
	Provide Transformation Sensor (LiDAR) to Body (Drone) also to reader.

float	scan_time_interval = 1.0
	The time for the interval of LiDAR Measurements that are grouped together as one scan and converted to one range image.

Member Function Documentation

◆ readYaml()

void se::Reader::Config::readYaml ( const std::string & filename )

Reads the struct members from the "reader" node of a YAML file.

Members not present in the YAML file aren't modified.

Member Data Documentation

◆ reader_type

ReaderType se::Reader::Config::reader_type = se::ReaderType::RAW

The type of the dataset reader to use.

◆ sequence_path

std::string se::Reader::Config::sequence_path

The path to the dataset.

This might be a path to a file or a directory depending on the reader type.

◆ ground_truth_file

std::string se::Reader::Config::ground_truth_file

The path to the ground truth file.

◆ inverse_scale

float se::Reader::Config::inverse_scale = 0.0f

The scaling factor to convert depth values to metres.

A value of 0 will use the default scaling for the particular dataset. This only needs to be set when using a modified dataset, e.g. when using a dataset in the TUM format with depth scaled by 1000 instead of the default 5000 for TUM, inverse_scale would need to be set to 1/1000.

◆ fps

float se::Reader::Config::fps = 0.0f

The rate in Hz at which dataset frames are read.

A value of 0 will result in reading frames as quickly as possible. If frames can be processed faster than they are read, the program will wait before reading the next frame until the target rate is reached. If frames are processed slower than they are read the behaviour depends on the value of se::Reader::Config::drop_frames.

◆ drop_frames

bool se::Reader::Config::drop_frames = false

Whether to drop frames when they can't be processed fast enough.

This option only has an effect if se::Reader::Config::fps is greater than 0 and frames are read faster than they can be processed:

When false, all frames in the dataset will be processed. This will result in a processing rate lower than what was specified in se::Reader::Config::fps. This simulates a camera with a framerate of se::Reader::Config::fps and processing every frame produced by the camera.
When true, input frames will be skipped, assumming they arrive at a rate of se::Reader::Config::fps. This simulates a camera with a framerate of se::Reader::Config::fps and always processing the laster frame produced by the camera.

◆ verbose

int se::Reader::Config::verbose = 0

The verbosity level of dataset readers.

A positive value results in more information being printed to standard output when reading data. Greater values result in more information being printed.

◆ T_BL

Eigen::Isometry3f se::Reader::Config::T_BL = Eigen::Isometry3f::Identity()

Provide Transformation Sensor (LiDAR) to Body (Drone) also to reader.

T_BS.

Note: Only for se::ReaderType::LEICA ("rangeImage" or "ray")

◆ scan_time_interval

float se::Reader::Config::scan_time_interval = 1.0

The time for the interval of LiDAR Measurements that are grouped together as one scan and converted to one range image.

Note: Only for se::ReaderType::LEICA ("rangeImage" or "ray")

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

app/include/reader_base.hpp

Public Member Functions

Public Attributes