class mola::EurocDataset¶

Overview¶

RawDataSource from EUROC odometry/SLAM datasets. More…

#include <EurocDataset.h>

class EurocDataset: public mola::RawDataSourceBase
{
public:
    // methods

    virtual void initialize(const Yaml& cfg);
    virtual void spinOnce();
    void attachToDataConsumer(RawDataConsumer& rdc);
    virtual void initialize_common(const Yaml& cfg);
};

Inherited Members¶

public:
    // structs

    struct SensorViewerImpl;

    // methods

    virtual void spinOnce() = 0;

Detailed Documentation¶

RawDataSource from EUROC odometry/SLAM datasets. Each “sequence” directory contains these sensor streams:

cam0 & cam1 : A grayscale stereo camera pair
imu0 : An ADIS16448 IMU sensor
Ground truth poses

Methods¶

virtual void initialize(const Yaml& cfg)

This should be reimplemented to read all the required parameters

void attachToDataConsumer(RawDataConsumer& rdc)

Attach this object to a consumer. A shared_ptr is created to keep a reference to the object.

virtual void initialize_common(const Yaml& cfg)

Loads common parameters for all RDS. Called by launcher just before initialize(). This handles:

gui_preview_sensors : Enable displaying sensor data in a subwindow.
export_to_rawlog : If defined, save observations to the given rawlog file.