This class makes it easy to read positions from a sequence. More...

Detailed Description

This class makes it easy to read positions from a sequence.

Definition at line 23 of file PositionReader.hpp.

Inheritance diagram for jafar::datareader::PositionReader:

Public Types
enum	PosFileType { JAFAR, CALIFE, GENOM }
	Type of the pos file to be read. More...
enum	TransfoSource { POS, T3D }
	Source of the estimation of movement from t to t+1. More...
Public Member Functions
void	setup (std::string directory_, std::string pattern_="image.pos.%04d.g.pos", std::string patternTransfos_="%04d_to_%04d.t3d", std::string patternTimes_="", jblas::vec *robotToSensorCorrection_=NULL, int first_=-1, int last_=-1, int step_=-1)
	Setup the config reader.
Position	loadPosition (unsigned int index_, PosFileType fileType=JAFAR) const
	Load a position given the index_ of .pos file fileType indicates whether the file was written in Calife format (rotation then translation) or in Jafar format (translation then rotation)
void	loadPosition (unsigned int index_, Position &pos) const
void	loadT3D (unsigned int index1, unsigned int index2, jafar::geom::T3D &t3d) const
void	loadTime (unsigned int index, double &time) const
jafar::geom::T3D *	loadTransfo (unsigned int iFrom, unsigned int iTo, int *dt=NULL, TransfoSource source=POS)
	Return the transformation from frame iFrom to frame iTo, using source (.pos files or .t3d files)
Private Attributes
std::string	directory
std::string	pattern
std::string	patternTransfos
std::string	patternTimes
jblas::vec	robotToSensorCorrection
int	first
int	last
int	step
geom::T3D *	robotToSensor
geom::T3D *	sensorToRobot
Position *	cached_pos
unsigned int	cached_pos_index

Member Enumeration Documentation

Type of the pos file to be read.

In Calife and Genom (POM module) rotation angles are written before translation vector
In Jafar translation vector is written before rotation angles

Definition at line 43 of file PositionReader.hpp.

Source of the estimation of movement from t to t+1.

POS: .pos files that represents integrated trajectory of the robot (usually given by classic odometry)
T3D: .t3d files that represents transformation from t to t+1 (usually given by VME module)

Definition at line 53 of file PositionReader.hpp.

jafar::geom::T3D* jafar::datareader::PositionReader::loadTransfo	(	unsigned int	iFrom,
		unsigned int	iTo,
		int *	dt = `NULL`,
		TransfoSource	source = `POS`
	)

Return the transformation from frame iFrom to frame iTo, using source (.pos files or .t3d files)

Parameters:

dt	time elapsed between the two frames (us)

void jafar::datareader::PositionReader::setup	(	std::string	directory_,
		std::string	pattern_ = `"image.pos.%04d.g.pos"`,
		std::string	patternTransfos_ = `"%04d_to_%04d.t3d"`,
		std::string	patternTimes_ = `""`,
		jblas::vec *	robotToSensorCorrection_ = `NULL`,
		int	first_ = `-1`,
		int	last_ = `-1`,
		int	step_ = `-1`
	)

Setup the config reader.

Parameters:

directory_	the directory where are .cfg files
pattern_	the file name pattern for .pos files, with origin directory_
patternTransfos_	the file name pattern for .t3d files, with origin directory_. Must contain two integers.
patternTimes	the file name patter for .time files saved by viam
robotToSensorCorrection_	a transformation that is added to robotToSensor
first_	the index of first image
last_	the index of last image
step_	the index step between images

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