ov_core::DatasetReader Class Reference

Helper functions to read in dataset files. More...

#include <dataset_reader.h>

Static Public Member Functions
static bool	get_gt_state (double timestep, Eigen::Matrix< double, 17, 1 > &imustate, std::map< double, Eigen::Matrix< double, 17, 1 >> &gt_states)
	Gets the 17x1 groundtruth state at a given timestep. More...
static void	load_gt_file (std::string path, std::map< double, Eigen::Matrix< double, 17, 1 >> &gt_states)
	Load a ASL format groundtruth file. More...
static void	load_simulated_trajectory (std::string path, std::vector< Eigen::VectorXd > &traj_data)
	This will load the trajectory into memory (space separated) More...

Private Member Functions
	DatasetReader ()

Detailed Description

Helper functions to read in dataset files.

This file has some nice functions for reading dataset files. One of the main datasets that we test against is the EuRoC MAV dataset. We have some nice utility functions here that handle loading of the groundtruth data. This can be used to initialize the system or for plotting and calculation of RMSE values without needing any alignment.

M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari,M. Achtelik and R. Siegwart, "The EuRoC micro aerial vehicle datasets", International Journal of Robotic Research, DOI: 10.1177/0278364915620033, 2016. https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets.

Definition at line 50 of file dataset_reader.h.

Constructor & Destructor Documentation

DatasetReader()

ov_core::DatasetReader::DatasetReader ( )

inlineprivate

All function in this class should be static. Thus an instance of this class cannot be created.

Definition at line 242 of file dataset_reader.h.

Member Function Documentation

get_gt_state()

static bool ov_core::DatasetReader::get_gt_state ( double  timestep, Eigen::Matrix< double, 17, 1 > &  imustate, std::map< double, Eigen::Matrix< double, 17, 1 >> &  gt_states  )

inlinestatic

Gets the 17x1 groundtruth state at a given timestep.

Parameters

timestep	timestep we want to get the groundtruth for
imustate	groundtruth state [time(sec),q_GtoI,p_IinG,v_IinG,b_gyro,b_accel]
gt_states	Should be loaded with groundtruth states, see load_gt_file() for details

Returns

true if we found the state, false otherwise

Definition at line 114 of file dataset_reader.h.

load_gt_file()

static void ov_core::DatasetReader::load_gt_file ( std::string  path, std::map< double, Eigen::Matrix< double, 17, 1 >> &  gt_states  )

inlinestatic

Load a ASL format groundtruth file.

Parameters

path	Path to the CSV file of groundtruth data
gt_states	Will be filled with groundtruth states

Here we will try to load a groundtruth file that is in the ASL/EUROCMAV format. If we can't open the file, or it is in the wrong format we will error and exit the program. See get_gt_state() for a way to get the groundtruth state at a given timestep

Definition at line 62 of file dataset_reader.h.

load_simulated_trajectory()

static void ov_core::DatasetReader::load_simulated_trajectory ( std::string  path, std::vector< Eigen::VectorXd > &  traj_data  )

inlinestatic

This will load the trajectory into memory (space separated)

Parameters

path	Path to the trajectory file that we want to read in.
traj_data	Will be filled with groundtruth states (timestamp(s), q_GtoI, p_IinG)

Definition at line 177 of file dataset_reader.h.

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The documentation for this class was generated from the following file:

• dataset_reader.h