class mola::KittiOdometryDataset¶
Overview¶
RawDataSource from Kitti odometry/SLAM datasets. More…
#include <KittiOdometryDataset.h> class KittiOdometryDataset: public mola::RawDataSourceBase { public: // methods virtual void initialize(const Yaml& cfg); virtual void spinOnce(); std::shared_ptr<mrpt::obs::CObservationPointCloud> getPointCloud(timestep_t step); std::shared_ptr<mrpt::obs::CObservationImage> getImage( const unsigned int cam_idx, timestep_t step ); timestep_t getTimestepCount() const; };
Inherited Members¶
public: // structs struct SensorViewerImpl; // methods virtual void spinOnce() = 0;
Detailed Documentation¶
RawDataSource from Kitti odometry/SLAM datasets. Each “sequence” directory contains these sensor streams:
image_0
&image_1
: A grayscale stereo camera pairimage_2
&image_3
: An RGB stereo camera pairlidar
: Velodyne 3D LIDAR- Ground truth poses
Methods¶
virtual void initialize(const Yaml& cfg)
This should be reimplemented to read all the required parameters
std::shared_ptr<mrpt::obs::CObservationPointCloud> getPointCloud(timestep_t step)
Direct programatic access to dataset observations