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 pairimu0
: 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.