47 const std::string & path,
52 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
53 virtual bool isCalibrated()
const;
54 virtual std::string getSerial()
const;
56 std::string
getPath()
const {
return _path;}
57 unsigned int imagesCount()
const;
58 std::vector<std::string> filenames()
const;
63 void setPath(
const std::string & dir) {_path=dir;}
70 void setTimestamps(
bool fileNamesAreStamps,
const std::string & filePath =
"",
bool syncImageRateWithStamps=
true)
72 _filenamesAreTimestamps = fileNamesAreStamps;
73 _timestampsPath=filePath;
74 _syncImageRateWithStamps = syncImageRateWithStamps;
79 _hasConfigForEachFrame = value;
83 const std::string & dir,
88 _scanLocalTransform = localTransform;
89 _scanMaxPts = maxScanPts;
92 void setDepthFromScan(
bool enabled,
int fillHoles = 1,
bool fillHolesFromBorder =
false)
94 _depthFromScan = enabled;
95 _depthFromScanFillHoles = fillHoles;
96 _depthFromScanFillHolesFromBorder = fillHolesFromBorder;
102 _odometryPath = filePath;
103 _odometryFormat = format;
109 _groundTruthPath = filePath;
110 _groundTruthFormat = format;
116 void setDepth(
bool isDepth,
float depthScaleFactor = 1.0f)
119 _depthScaleFactor=depthScaleFactor;
127 std::list<Transform> & outputPoses,
128 std::list<double> & stamps,
129 const std::string & filePath,
131 double maxTimeDiff)
const;
std::list< Transform > groundTruth_
bool _hasConfigForEachFrame
void setPath(const std::string &dir)
Transform _scanLocalTransform
std::list< CameraModel > _models
std::string _groundTruthPath
std::string _lastFileName
void setOdometryPath(const std::string &filePath, int format=0)
void setImagesRectified(bool enabled)
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
void setScanPath(const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
void setDirRefreshed(bool enabled)
void setConfigForEachFrame(bool value)
static Transform opticalRotation()
void setGroundTruthPath(const std::string &filePath, int format=0)
std::list< double > _stamps
void setBayerMode(int mode)
std::string _odometryPath
int _depthFromScanFillHoles
std::string _lastScanFileName
const CameraModel & cameraModel() const
virtual void setStartIndex(int index)
void setDepth(bool isDepth, float depthScaleFactor=1.0f)
std::list< Transform > odometry_
bool _depthFromScanFillHolesFromBorder
void setMaxPoseTimeDiff(double diff)
void setDepthFromScan(bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
void setTimestamps(bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
virtual bool odomProvided() const
bool _syncImageRateWithStamps
std::string _timestampsPath
std::string getPath() const
bool _filenamesAreTimestamps
bool isImagesRectified() const
virtual void setMaxFrames(int value)
std::list< cv::Mat > covariances_
double getMaxPoseTimeDiff() const