Class OfflineDatasetSource

Inheritance Relationships

Derived Types

  • public mola::Kitti360Dataset

  • public mola::KittiOdometryDataset

  • public mola::MulranDataset

  • public mola::ParisLucoDataset

  • public mola::RawlogDataset

  • public mola::Rosbag2Dataset

Class Documentation

class OfflineDatasetSource

Virtual base for offline dataset sources

Subclassed by mola::Kitti360Dataset, mola::KittiOdometryDataset, mola::MulranDataset, mola::ParisLucoDataset, mola::RawlogDataset, mola::Rosbag2Dataset

Virtual interface of any OfflineDatasetSource

{

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.

inline virtual bool hasGroundTruthTrajectory() const

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

See also

getGroundTruthTrajectory()

inline 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.

See also

hasGroundTruthTrajectory()

Public Functions

OfflineDatasetSource() = default
virtual ~OfflineDatasetSource() = default