Class OfflineDatasetSource

Class Documentation

class OfflineDatasetSource

Virtual base for offline dataset sources

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.

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.

Public Functions

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