Class BinFileDataset

Defined in File BinFileDataset.h

Inheritance Relationships

Base Types

public mola::OfflineDatasetSource
public mola::RawDataSourceBase
public mola::Dataset_UI

Class Documentation

class BinFileDataset : public mola::OfflineDatasetSource, public mola::RawDataSourceBase, public mola::Dataset_UI 

RawDataSource from a directory of time-ordered .bin LiDAR scan files. Each .bin file is expected to contain a sequence of 4 floats (x, y, z, intensity) for each point, in the standard KITTI format.

Public Functions

BinFileDataset()

~BinFileDataset() override

BinFileDataset(const BinFileDataset&) = delete

BinFileDataset &operator=(const BinFileDataset&) = delete

BinFileDataset(BinFileDataset&&) = delete

BinFileDataset &operator=(BinFileDataset&&) = delete

void initialize_rds(const mrpt::containers::yaml &params) override

virtual size_t datasetSize() const override

virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const override

virtual void spinOnce() override

inline virtual bool hasGroundTruthTrajectory() const override

inline virtual size_t datasetUI_size() const override

inline virtual size_t datasetUI_lastQueriedTimestep() const override

inline double datasetUI_playback_speed() const override

inline void datasetUI_playback_speed(double speed) override

inline bool datasetUI_paused() const override

inline void datasetUI_paused(bool paused) override

inline virtual void datasetUI_teleport(size_t timestep) override

Protected Functions

std::shared_ptr<mrpt::obs::CObservationPointCloud> getPointCloud(timestep_t step) const

void load_lidar(timestep_t step) const: Loads and caches a LiDAR scan from disk.

Protected Attributes

std::string bin_dir_: path: Path to the directory with .bin files (Required)

double rate_hz_ = {10.0}: rate_hz: LiDAR sensor rate in Hz (Default: 10.0)

std::vector<std::string> lst_bin_files_

std::vector<double> lst_timestamps_

mutable timestep_t last_used_tim_index_ = 0

bool paused_ = false

double time_warp_scale_ = 1.0

std::optional<size_t> teleport_here_

mutable std::mutex dataset_ui_mtx_

timestep_t replay_next_tim_index_ = 0

std::optional<mrpt::Clock::time_point> last_play_wallclock_time_

double last_dataset_time_ = 0

mutable std::map<timestep_t, mrpt::obs::CObservation::Ptr> read_ahead_lidar_obs_

bool initialized_ = false