class mola::EurocDataset

Overview

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

#include <EurocDataset.h>

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

    virtual void spinOnce();
    virtual size_t datasetUI_size() const;
    virtual size_t datasetUI_lastQueriedTimestep() const;
    virtual double datasetUI_playback_speed() const;
    virtual void datasetUI_playback_speed(double speed);
    virtual bool datasetUI_paused() const;
    virtual void datasetUI_paused(bool paused);
    virtual void datasetUI_teleport(size_t timestep);
};

Inherited Members

public:
    // structs

    struct SensorViewerImpl;

    // methods

    virtual void initialize(const Yaml& cfg) = 0;
    virtual size_t datasetUI_size() const = 0;
    virtual size_t datasetUI_lastQueriedTimestep() const = 0;
    virtual double datasetUI_playback_speed() const = 0;
    virtual void datasetUI_playback_speed(double speed) = 0;
    virtual bool datasetUI_paused() const = 0;
    virtual void datasetUI_paused(bool paused) = 0;
    virtual void datasetUI_teleport(size_t timestep) = 0;

Methods

virtual void spinOnce()

Runs any required action on a timely manner

virtual size_t datasetUI_size() const

Number of different time steps available to call getObservations()

virtual size_t datasetUI_lastQueriedTimestep() const

Returns the latest requested observation, range [0, datasetSize()]

virtual void datasetUI_teleport(size_t timestep)

Forces continue replaying in this moment in time