Helper class to do OpenCV yaml parsing from both file and ROS. More...

#include <opencv_yaml_parse.h>

Public Member Functions
std::string	get_config_folder ()
	Will get the folder this config file is in. More...

template<class T >
void	parse_config (const std::string &node_name, T &node_result, bool required=true)
	Custom parser for the ESTIMATOR parameters. More...

void	parse_external (const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name, Eigen::Matrix3d &node_result, bool required=true)
	Custom parser for Matrix3d in the external parameter files with levels. More...

void	parse_external (const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name, Eigen::Matrix4d &node_result, bool required=true)
	Custom parser for Matrix4d in the external parameter files with levels. More...

template<class T >
void	parse_external (const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name, T &node_result, bool required=true)
	Custom parser for the external parameter files with levels. More...

bool	successful () const
	Check to see if all parameters were read succesfully. More...

	YamlParser (const std::string &config_path, bool fail_if_not_found=true)
	Constructor that loads all three configuration files. More...

Private Member Functions
void	parse (const cv::FileNode &file_node, const std::string &node_name, bool &node_result, bool required=true)
	Custom parser for booleans (0,false,False,FALSE=>false and 1,true,True,TRUE=>false) More...

void	parse (const cv::FileNode &file_node, const std::string &node_name, Eigen::Matrix3d &node_result, bool required=true)
	Custom parser for camera extrinsic 3x3 transformations. More...

void	parse (const cv::FileNode &file_node, const std::string &node_name, Eigen::Matrix4d &node_result, bool required=true)
	Custom parser for camera extrinsic 4x4 transformations. More...

template<class T >
void	parse (const cv::FileNode &file_node, const std::string &node_name, T &node_result, bool required=true)
	This function will try to get the requested parameter from our config. More...

template<class T >
void	parse_config_yaml (const std::string &node_name, T &node_result, bool required=true)
	Custom parser for the ESTIMATOR parameters. More...

template<class T >
void	parse_external_yaml (const std::string &external_node_name, const std::string &sensor_name, const std::string &node_name, T &node_result, bool required=true)
	Custom parser for the EXTERNAL parameter files with levels. More...

Static Private Member Functions
static bool	node_found (const cv::FileNode &file_node, const std::string &node_name)
	Given a YAML node object, this check to see if we have a valid key. More...

Private Attributes
bool	all_params_found_successfully = true
	Record if all parameters were found. More...

std::shared_ptr< cv::FileStorage >	config
	Our config file with the data in it. More...

std::string	config_path_
	Path to the config file. More...

Detailed Description

Helper class to do OpenCV yaml parsing from both file and ROS.

The logic is as follows:

Given a path to the main config file we will load it into our cv::FileStorage object.
From there the user can request for different parameters of different types from the config.
If we have ROS, then we will also check to see if the user has overridden any config files via ROS.
The ROS parameters always take priority over the ones in our config.

NOTE: There are no "nested" yaml parameters. They are all under the "root" of the yaml file!!! This limits things quite a bit, but simplified the below implementation.

NOTE: The camera and imu have nested, but those are handled externally. They first read the "imu0" or "cam1" level, after-which all values are at the same level.

Definition at line 58 of file opencv_yaml_parse.h.

Constructor & Destructor Documentation

◆ YamlParser()

ov_core::YamlParser::YamlParser	(	const std::string &	config_path,
		bool	fail_if_not_found = `true`
	)

inlineexplicit

Constructor that loads all three configuration files.

Parameters

config_path	Path to the YAML file we will parse
fail_if_not_found	If we should terminate the program if we can't open the config file

Definition at line 65 of file opencv_yaml_parse.h.

Member Function Documentation

◆ get_config_folder()

std::string ov_core::YamlParser::get_config_folder ( )

inline

Will get the folder this config file is in.

Returns: Config folder

Definition at line 103 of file opencv_yaml_parse.h.

◆ node_found()

static bool ov_core::YamlParser::node_found	(	const cv::FileNode &	file_node,
		const std::string &	node_name
	)

inlinestaticprivate

Given a YAML node object, this check to see if we have a valid key.

Parameters

file_node	OpenCV file node we will get the data from
node_name	Name of the node

Returns: True if we can get the data

Definition at line 336 of file opencv_yaml_parse.h.

◆ parse() [1/4]

void ov_core::YamlParser::parse	(	const cv::FileNode &	file_node,
		const std::string &	node_name,
		bool &	node_result,
		bool	required = `true`
	)

inlineprivate

Custom parser for booleans (0,false,False,FALSE=>false and 1,true,True,TRUE=>false)

Parameters

file_node	OpenCV file node we will get the data from
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 392 of file opencv_yaml_parse.h.

◆ parse() [2/4]

void ov_core::YamlParser::parse	(	const cv::FileNode &	file_node,
		const std::string &	node_name,
		Eigen::Matrix3d &	node_result,
		bool	required = `true`
	)

inlineprivate

Custom parser for camera extrinsic 3x3 transformations.

Parameters

file_node	OpenCV file node we will get the data from
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 448 of file opencv_yaml_parse.h.

◆ parse() [3/4]

void ov_core::YamlParser::parse	(	const cv::FileNode &	file_node,
		const std::string &	node_name,
		Eigen::Matrix4d &	node_result,
		bool	required = `true`
	)

inlineprivate

Custom parser for camera extrinsic 4x4 transformations.

Parameters

file_node	OpenCV file node we will get the data from
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 488 of file opencv_yaml_parse.h.

◆ parse() [4/4]

template<class T >

void ov_core::YamlParser::parse	(	const cv::FileNode &	file_node,
		const std::string &	node_name,
		T &	node_result,
		bool	required = `true`
	)

inlineprivate

This function will try to get the requested parameter from our config.

If it is unable to find it, it will give a warning to the user it couldn't be found.

Template Parameters

T	Type of parameter we are looking for.

Parameters

file_node	OpenCV file node we will get the data from
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 357 of file opencv_yaml_parse.h.

◆ parse_config()

template<class T >

void ov_core::YamlParser::parse_config	(	const std::string &	node_name,
		T &	node_result,
		bool	required = `true`
	)

inline

Custom parser for the ESTIMATOR parameters.

This will load the data from the main config file. If it is unable it will give a warning to the user it couldn't be found.

Template Parameters

T	Type of parameter we are looking for.

Parameters

node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 122 of file opencv_yaml_parse.h.

◆ parse_config_yaml()

template<class T >

void ov_core::YamlParser::parse_config_yaml	(	const std::string &	node_name,
		T &	node_result,
		bool	required = `true`
	)

inlineprivate

Custom parser for the ESTIMATOR parameters.

This will load the data from the main config file. If it is unable it will give a warning to the user it couldn't be found.

Template Parameters

T	Type of parameter we are looking for.

Parameters

node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 548 of file opencv_yaml_parse.h.

◆ parse_external() [1/3]

void ov_core::YamlParser::parse_external	(	const std::string &	external_node_name,
		const std::string &	sensor_name,
		const std::string &	node_name,
		Eigen::Matrix3d &	node_result,
		bool	required = `true`
	)

inline

Custom parser for Matrix3d in the external parameter files with levels.

This will first load the external file requested. From there it will try to find the first level requested (e.g. imu0, cam0, cam1). Then the requested node can be found under this sensor name. ROS can override the config with <sensor_name>_<node_name> (e.g., cam0_distortion).

Parameters

external_node_name	Name of the node we will get our relative path from
sensor_name	The first level node we will try to get the requested node under
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 195 of file opencv_yaml_parse.h.

◆ parse_external() [2/3]

void ov_core::YamlParser::parse_external	(	const std::string &	external_node_name,
		const std::string &	sensor_name,
		const std::string &	node_name,
		Eigen::Matrix4d &	node_result,
		bool	required = `true`
	)

inline

Custom parser for Matrix4d in the external parameter files with levels.

This will first load the external file requested. From there it will try to find the first level requested (e.g. imu0, cam0, cam1). Then the requested node can be found under this sensor name. ROS can override the config with <sensor_name>_<node_name> (e.g., cam0_distortion).

Parameters

external_node_name	Name of the node we will get our relative path from
sensor_name	The first level node we will try to get the requested node under
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 242 of file opencv_yaml_parse.h.

◆ parse_external() [3/3]

template<class T >

void ov_core::YamlParser::parse_external	(	const std::string &	external_node_name,
		const std::string &	sensor_name,
		const std::string &	node_name,
		T &	node_result,
		bool	required = `true`
	)

inline

Custom parser for the external parameter files with levels.

This will first load the external file requested. From there it will try to find the first level requested (e.g. imu0, cam0, cam1). Then the requested node can be found under this sensor name. ROS can override the config with <sensor_name>_<node_name> (e.g., cam0_distortion).

Template Parameters

T	Type of parameter we are looking for.

Parameters

external_node_name	Name of the node we will get our relative path from
sensor_name	The first level node we will try to get the requested node under
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 158 of file opencv_yaml_parse.h.

◆ parse_external_yaml()

template<class T >

void ov_core::YamlParser::parse_external_yaml	(	const std::string &	external_node_name,
		const std::string &	sensor_name,
		const std::string &	node_name,
		T &	node_result,
		bool	required = `true`
	)

inlineprivate

Custom parser for the EXTERNAL parameter files with levels.

This will first load the external file requested. From there it will try to find the first level requested (e.g. imu0, cam0, cam1). Then the requested node can be found under this sensor name. ROS can override the config with <sensor_name>_<node_name> (e.g., cam0_distortion).

Template Parameters

T	Type of parameter we are looking for.

Parameters

external_node_name	Name of the node we will get our relative path from
sensor_name	The first level node we will try to get the requested node under
node_name	Name of the node
node_result	Resulting value (should already have default value in it)
required	If this parameter is required by the user to set

Definition at line 580 of file opencv_yaml_parse.h.

◆ successful()

bool ov_core::YamlParser::successful ( ) const

inline

Check to see if all parameters were read succesfully.

Returns: True if we found all parameters

Definition at line 109 of file opencv_yaml_parse.h.

Member Data Documentation

◆ all_params_found_successfully

bool ov_core::YamlParser::all_params_found_successfully = true

private

Record if all parameters were found.

Definition at line 318 of file opencv_yaml_parse.h.

◆ config

std::shared_ptr<cv::FileStorage> ov_core::YamlParser::config

private

Our config file with the data in it.

Definition at line 315 of file opencv_yaml_parse.h.

◆ config_path_

std::string ov_core::YamlParser::config_path_

private

Path to the config file.

Definition at line 312 of file opencv_yaml_parse.h.

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

opencv_yaml_parse.h

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ YamlParser()

Member Function Documentation

◆ get_config_folder()

◆ node_found()

◆ parse() [1/4]

◆ parse() [2/4]

◆ parse() [3/4]

◆ parse() [4/4]

◆ parse_config()

◆ parse_config_yaml()

◆ parse_external() [1/3]

◆ parse_external() [2/3]

◆ parse_external() [3/3]

◆ parse_external_yaml()

◆ successful()

Member Data Documentation

◆ all_params_found_successfully

◆ config

◆ config_path_