Class RawDataSourceBase

Inheritance Relationships

Base Type

Derived Types

  • public mola::BridgeROS2

  • public mola::EurocDataset

  • public mola::FilterBase (Class FilterBase)

  • public mola::Kitti360Dataset

  • public mola::KittiOdometryDataset

  • public mola::MulranDataset

  • public mola::ParisLucoDataset

  • public mola::RawlogDataset

  • public mola::Rosbag2Dataset

Class Documentation

class RawDataSourceBase : public mola::ExecutableBase

Virtual base for raw-observation data sources (sensors, dataset parsers,…)

Subclassed by mola::BridgeROS2, mola::EurocDataset, mola::FilterBase, mola::Kitti360Dataset, mola::KittiOdometryDataset, mola::MulranDataset, mola::ParisLucoDataset, mola::RawlogDataset, mola::Rosbag2Dataset

Public Functions

RawDataSourceBase()
virtual ~RawDataSourceBase()
void attachToDataConsumer(RawDataConsumer &rdc)

Attach this object to a consumer. A shared_ptr is created to keep a reference to the object.

virtual void initialize(const Yaml &cfg) final override

Loads common parameters for all RDS. This handles:

  • gui_preview_sensors: Enable displaying sensor data in a subwindow.

  • export_to_rawlog: If defined, save observations to the given rawlog file.

  • force_load_lazy_load: (Default=false) Force load() on all incoming observations.

  • quit_mola_app_on_dataset_end: (Default=false) Quits the MOLA app when end of dataset is reached.

Protected Functions

virtual void initialize_rds(const Yaml &cfg) = 0

Loads children specific parameters

void sendObservationsToFrontEnds(const CObservation::Ptr &obs)

Send an observation to the associated target front-ends

virtual void prepareObservationBeforeFrontEnds(const CObservation::Ptr &obs) const

Make sure the observation is loaded in memory (for externally-stored classes), etc. Only has effect if the option force_load_lazy_load was set to true

void onDatasetPlaybackEnds()

Should be called by derived classes if the end of a dataset was reached during spin()