DBReader.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
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12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef DBREADER_H_
29 #define DBREADER_H_
30 
31 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
32 
33 #include <rtabmap/utilite/UTimer.h>
34 #include <rtabmap/core/Transform.h>
35 #include <rtabmap/core/Camera.h>
36 
37 #include <opencv2/core/core.hpp>
38 
39 #include <set>
40 #include <list>
41 
42 namespace rtabmap {
43 
44 class DBDriver;
45 
46 class RTABMAP_EXP DBReader : public Camera {
47 public:
48  DBReader(const std::string & databasePath,
49  float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
50  bool odometryIgnored = false,
51  bool ignoreGoalDelay = false,
52  bool goalsIgnored = false,
53  int startId = 0,
54  int cameraIndex = -1,
55  int stopId = 0);
56  DBReader(const std::list<std::string> & databasePaths,
57  float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
58  bool odometryIgnored = false,
59  bool ignoreGoalDelay = false,
60  bool goalsIgnored = false,
61  int startId = 0,
62  int cameraIndex = -1,
63  int stopId = 0);
64  virtual ~DBReader();
65 
66  virtual bool init(
67  const std::string & calibrationFolder = ".",
68  const std::string & cameraName = "");
69 
70  virtual bool isCalibrated() const;
71  virtual std::string getSerial() const;
72  virtual bool odomProvided() const {return !_odometryIgnored;}
73 
74 protected:
75  virtual SensorData captureImage(CameraInfo * info = 0);
76 
77 private:
78  SensorData getNextData(CameraInfo * info = 0);
79 
80 private:
81  std::list<std::string> _paths;
85  int _startId;
86  int _stopId;
88 
91  std::set<int> _ids;
92  std::set<int>::iterator _currentId;
98 };
99 
100 } /* namespace rtabmap */
101 #endif /* DBREADER_H_ */
Definition: UTimer.h:46
std::list< std::string > _paths
Definition: DBReader.h:81
cv::Mat _previousInfMatrix
Definition: DBReader.h:94
f
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
bool _goalsIgnored
Definition: DBReader.h:84
double _previousStamp
Definition: DBReader.h:95
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
bool _ignoreGoalDelay
Definition: DBReader.h:83
DBDriver * _dbDriver
Definition: DBReader.h:89
std::set< int > _ids
Definition: DBReader.h:91
virtual bool odomProvided() const
Definition: DBReader.h:72
std::set< int >::iterator _currentId
Definition: DBReader.h:92
bool _odometryIgnored
Definition: DBReader.h:82


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58