Class ParisLucoDataset

Inheritance Relationships

Base Types

  • public mola::RawDataSourceBase

  • public mola::OfflineDatasetSource

  • public mola::Dataset_UI

Class Documentation

class ParisLucoDataset : public mola::RawDataSourceBase, public mola::OfflineDatasetSource, public mola::Dataset_UI

RawDataSource from Paris Luco Dataset.

Dataset available from: https://github.com/jedeschaud/ct_icp

The LiDAR sensor is a HDL-32, recording data at the Luxembourg Garden (Paris).

Point clouds are published as mrpt::obs::CObservationPointCloud with clouds of types mrpt::maps::CPointsMapXYZIRT, with these populated fields:

  • XYZ

  • I: Intensity, range [0.0 - 1.0?]

  • T: Time of each point, in range [-0.05, 0.05] seconds (scan rate=10 Hz), such that “t=0” (the observation/scan timestamp) corresponds to the moment the scanner is facing forward.

  • R: ring_id (0-31). It was not provided by the original dataset, but it is reconstructed from point elevation data in this package.

Expected contents under base_dir directory:

Example base_dir: /mnt/storage/ParisLuco/ Sequence: 00 (this dataset only has one sequence?) 

ParisLuco
└── 00
    ├── frames
    │   ├── frame_00000.ply
    │   ├── frame_00001.ply
    │   ...
    └── gt_traj_lidar.txt
...

Public Functions

ParisLucoDataset()
~ParisLucoDataset() override = default
virtual void spinOnce() override
inline virtual bool hasGroundTruthTrajectory() const override
inline virtual trajectory_t getGroundTruthTrajectory() const override
virtual size_t datasetSize() const override
virtual mrpt::obs::CSensoryFrame::Ptr datasetGetObservations(size_t timestep) const override
inline virtual size_t datasetUI_size() const override
inline virtual size_t datasetUI_lastQueriedTimestep() const override
inline double datasetUI_playback_speed() const override
inline void datasetUI_playback_speed(double speed) override
inline bool datasetUI_paused() const override
inline void datasetUI_paused(bool paused) override
inline virtual void datasetUI_teleport(size_t timestep) override

Protected Functions

virtual void initialize_rds(const Yaml &cfg) override