class mola::OfflineDatasetSource

Overview

Virtual base for offline dataset sources

#include <OfflineDatasetSource.h>

class OfflineDatasetSource
{
public:
    // methods

    virtual size_t datasetSize() const = 0;
    virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const = 0;
    virtual bool hasGroundTruthTrajectory() const;
    virtual trajectory_t getGroundTruthTrajectory() const;
};

// direct descendants

class Kitti360Dataset;
class KittiOdometryDataset;
class MulranDataset;
class ParisLucoDataset;
class RawlogDataset;
class Rosbag2Dataset;

Methods

virtual size_t datasetSize() const = 0

Number of different time steps available to call getObservations()

virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const = 0

Returns the set of observations available for the given time step.

virtual bool hasGroundTruthTrajectory() const

Returns true if a groundtruth is available for the vehicle trajectory.

See also:

getGroundTruthTrajectory()

virtual trajectory_t getGroundTruthTrajectory() const

If hasGroundTruthTrajectory() returns true, this returns the dataset groundtruth for the vehicle trajectory.

Note that timestamps for datasets are not wall-clock time (“now”), but old timestamps of when original observations were grabbed.