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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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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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 startIndex = 0,
54  int cameraIndex = -1);
55  DBReader(const std::list<std::string> & databasePaths,
56  float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
57  bool odometryIgnored = false,
58  bool ignoreGoalDelay = false,
59  bool goalsIgnored = false,
60  int startIndex = 0,
61  int cameraIndex = -1);
62  virtual ~DBReader();
63 
64  virtual bool init(
65  const std::string & calibrationFolder = ".",
66  const std::string & cameraName = "");
67 
68  virtual bool isCalibrated() const;
69  virtual std::string getSerial() const;
70  virtual bool odomProvided() const {return !_odometryIgnored;}
71 
72 protected:
73  virtual SensorData captureImage(CameraInfo * info = 0);
74 
75 private:
76  SensorData getNextData(CameraInfo * info = 0);
77 
78 private:
79  std::list<std::string> _paths;
85 
88  std::set<int> _ids;
89  std::set<int>::iterator _currentId;
95 };
96 
97 } /* namespace rtabmap */
98 #endif /* DBREADER_H_ */
Definition: UTimer.h:46
std::list< std::string > _paths
Definition: DBReader.h:79
cv::Mat _previousInfMatrix
Definition: DBReader.h:91
f
bool _goalsIgnored
Definition: DBReader.h:82
double _previousStamp
Definition: DBReader.h:92
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
bool _ignoreGoalDelay
Definition: DBReader.h:81
DBDriver * _dbDriver
Definition: DBReader.h:86
std::set< int > _ids
Definition: DBReader.h:88
virtual bool odomProvided() const
Definition: DBReader.h:70
std::set< int >::iterator _currentId
Definition: DBReader.h:89
bool _odometryIgnored
Definition: DBReader.h:80


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:41:31