isae::ADataProvider Class Reference

ADataProvider class for managing data from various sensors. More...

#include <adataprovider.h>

Collaboration diagram for isae::ADataProvider:

Public Member Functions
	ADataProvider (std::string path, Config slam_config)
std::shared_ptr< Frame >	next ()
	Return the next frame from the queue. More...
std::vector< std::shared_ptr< cam_config > >	getCamConfigs ()
std::shared_ptr< imu_config >	getIMUConfig ()
int	getNCam ()
std::vector< std::shared_ptr< ImageSensor > >	createImageSensors (const std::vector< cv::Mat > &imgs, const std::vector< cv::Mat > &masks={})
	From raw image to sensor objects. More...
std::shared_ptr< IMU >	createImuSensor (const Eigen::Vector3d &acc, const Eigen::Vector3d &gyr)
	From raw IMU measurements to an IMU sensor object. More...
void	addFrameToTheQueue (std::vector< std::shared_ptr< ASensor >> sensors, double time)
	Create a frame from sensors and timestamp and add it to the queue. More...
void	addFrameToTheQueue (std::shared_ptr< Frame > frame)

Protected Member Functions
void	loadSensorsConfiguration (const std::string &path)
void	loadCamConfig (YAML::Node cam_node)
void	loadIMUConfig (YAML::Node imu_node)

Protected Attributes
std::shared_ptr< imu_config >	_imu_config
	IMU configuration. More...
std::vector< std::shared_ptr< cam_config > >	_cam_configs
	Vector of camera configurations. More...
int	_ncam
	Number of Image Sensors. More...
std::queue< std::shared_ptr< Frame > >	_frame_queue
	Queue of frames to be processed. More...
Config	_slam_config
	SLAM configuration. More...
int	_nframes
	Frame counter. More...

Detailed Description

ADataProvider class for managing data from various sensors.

This class is responsible for loading sensor configurations, processing frames, and managing the queue of frames.

Constructor & Destructor Documentation

ADataProvider()

isae::ADataProvider::ADataProvider	(	std::string	path,
		Config	slam_config
	)

Member Function Documentation

addFrameToTheQueue() [1/2]

void isae::ADataProvider::addFrameToTheQueue

(

std::shared_ptr< Frame >

frame

)

addFrameToTheQueue() [2/2]

void isae::ADataProvider::addFrameToTheQueue	(	std::vector< std::shared_ptr< ASensor >>	sensors,
		double	time
	)

Create a frame from sensors and timestamp and add it to the queue.

createImageSensors()

std::vector< std::shared_ptr< ImageSensor > > isae::ADataProvider::createImageSensors	(	const std::vector< cv::Mat > &	imgs,
		const std::vector< cv::Mat > &	masks = {}
	)

From raw image to sensor objects.

createImuSensor()

std::shared_ptr< IMU > isae::ADataProvider::createImuSensor	(	const Eigen::Vector3d &	acc,
		const Eigen::Vector3d &	gyr
	)

From raw IMU measurements to an IMU sensor object.

getCamConfigs()

std::vector<std::shared_ptr<cam_config> > isae::ADataProvider::getCamConfigs ( )

inline

getIMUConfig()

std::shared_ptr<imu_config> isae::ADataProvider::getIMUConfig ( )

inline

getNCam()

int isae::ADataProvider::getNCam ( )

inline

loadCamConfig()

void isae::ADataProvider::loadCamConfig ( YAML::Node  cam_node )

protected

loadIMUConfig()

void isae::ADataProvider::loadIMUConfig ( YAML::Node  imu_node )

protected

loadSensorsConfiguration()

void isae::ADataProvider::loadSensorsConfiguration ( const std::string &  path )

protected

next()

std::shared_ptr< Frame > isae::ADataProvider::next

(

)

Return the next frame from the queue.

Member Data Documentation

_cam_configs

std::vector<std::shared_ptr<cam_config> > isae::ADataProvider::_cam_configs

protected

Vector of camera configurations.

_frame_queue

std::queue<std::shared_ptr<Frame> > isae::ADataProvider::_frame_queue

protected

Queue of frames to be processed.

_imu_config

std::shared_ptr<imu_config> isae::ADataProvider::_imu_config

protected

IMU configuration.

_ncam

int isae::ADataProvider::_ncam

protected

Number of Image Sensors.

_nframes

int isae::ADataProvider::_nframes

protected

Frame counter.

_slam_config

Config isae::ADataProvider::_slam_config

protected

SLAM configuration.

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/dataproviders/adataprovider.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/dataproviders/adataprovider.cpp