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45 const std::string &
path,
50 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
51 virtual bool isCalibrated()
const;
52 virtual std::string getSerial()
const;
54 std::string
getPath()
const {
return _path;}
55 unsigned int imagesCount()
const;
56 std::vector<std::string> filenames()
const;
61 void setPath(
const std::string & dir) {_path=dir;}
68 void setTimestamps(
bool fileNamesAreStamps,
const std::string & filePath =
"",
bool syncImageRateWithStamps=
true)
70 _filenamesAreTimestamps = fileNamesAreStamps;
71 _timestampsPath=filePath;
72 _syncImageRateWithStamps = syncImageRateWithStamps;
77 _hasConfigForEachFrame =
value;
81 const std::string & dir,
86 _scanLocalTransform = localTransform;
87 _scanMaxPts = maxScanPts;
90 void setDepthFromScan(
bool enabled,
int fillHoles = 1,
bool fillHolesFromBorder =
false)
92 _depthFromScan = enabled;
93 _depthFromScanFillHoles = fillHoles;
94 _depthFromScanFillHolesFromBorder = fillHolesFromBorder;
100 _odometryPath = filePath;
107 _groundTruthPath = filePath;
108 _groundTruthFormat =
format;
114 void setDepth(
bool isDepth,
float depthScaleFactor = 1.0f)
117 _depthScaleFactor=depthScaleFactor;
125 std::list<Transform> & outputPoses,
126 std::list<double> & stamps,
127 const std::string & filePath,
129 double maxTimeDiff)
const;
std::string format(const std::string &str, const std::vector< std::string > &find, const std::vector< std::string > &replace)
bool _hasConfigForEachFrame
void setPath(const std::string &dir)
void setImagesRectified(bool enabled)
Transform _scanLocalTransform
std::list< CameraModel > _models
std::string _groundTruthPath
std::string _lastFileName
bool isImagesRectified() const
void setScanPath(const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
void setOdometryPath(const std::string &filePath, int format=0)
void setConfigForEachFrame(bool value)
const CameraModel & cameraModel() const
double getMaxPoseTimeDiff() const
void setDirRefreshed(bool enabled)
std::list< double > _stamps
void setGroundTruthPath(const std::string &filePath, int format=0)
std::string _odometryPath
void setDepthFromScan(bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
int _depthFromScanFillHoles
void setBayerMode(int mode)
virtual void setStartIndex(int index)
void setMaxPoseTimeDiff(double diff)
void setDepth(bool isDepth, float depthScaleFactor=1.0f)
std::string _lastScanFileName
void setTimestamps(bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
std::string _timestampsPath
std::list< Transform > odometry_
bool _filenamesAreTimestamps
bool _depthFromScanFillHolesFromBorder
virtual void setMaxFrames(int value)
std::string getPath() const
bool _syncImageRateWithStamps
std::list< cv::Mat > covariances_
std::list< Transform > groundTruth_
virtual bool odomProvided() const
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07