The class DataProvider is an interface between the modules 'datareader' and 'traversability'. More...

Detailed Description

The class DataProvider is an interface between the modules 'datareader' and 'traversability'.

It provides a simple manner to load pose or image data from specified source. Useful is the possibility of loading a config file that contains the relevant, data set specific information.

Definition at line 31 of file trv_dataProvider.hpp.

#include <trv_dataProvider.hpp>

List of all members.

Public Member Functions
	DataProvider (void)
	Void constructor; the data set specific parameters can to be set using the method setup.
	DataProvider (FileInfoDataSet fileInfo)
	Constructor where the data specific parameters are passed in the form of a struct FileInfoDataSet; FileInfoDataSet.
	DataProvider (std::string pathConfigFile, std::string excepStr="none")
	Constructor where the data specific parameters are loaded with the help of a config file.
void	setup (std::string pathConfigFile, std::string excepStr="none")
	To setup DataProvider.
void	setup (FileInfoDataSet fileInfo)
	To setup DataProvider.
void	getPose (int idx, CameraPoseParameters &camPose)
	Get pose data for sample idx provided that the DataReader is set up successfully.
CameraPoseParameters	getPose (int idx)
	Get pose data for sample idx provided that the DataReader is set up successfully.
void	getImage (int idx, jafar::image::Image &img)
	Get image data for sample idx provided that the DataReader is set up successfully.
jafar::image::Image	getImage (int idx)
	Get image data for sample idx provided that the DataReader is set up successfully.
void	getData (int idx, CameraPoseParameters &camPose, jafar::image::Image &img)
	Function that combines getPose and getImage.
void	printFileInfo (void)
	Print the file info for the actually set up data repository.
void	printPoseData (int idx)
	Print pose data of the sample at index idx .
FileInfoDataSet	parseConfigFile (std::string pathConfigFile)
	Parse config file in order to gather relevant information for the FileInfoDataSet object.
ImageInfo	parseConfigFileForImageInfo (std::string pathConfigFile)
	Parse config file in order to gather image info-.
CameraIntrinsicParameters	parseConfigFileForInternals (std::string pathConfigFile)
	Parse config file in order to gather the intrinsic parameters of the camera (calibration parameters).
Private Member Functions
void	initPositionReader (FileInfoDataSet fileInfo)
	Init PositionReader.
void	initImageReader (FileInfoDataSet fileInfo)
	Init ImageReader.
jblas::vec6	getPoseDataFromSource (jafar::datareader::PositionReader *posReader, int idx)
CameraPoseParameters	getPoseDataFromSourceStr (jafar::datareader::PositionReader *posReader, int idx)
template<typename T >
T	parseFile (std::string pathConfigFile, std::string key)
	Parse a config file for a key.
Private Attributes
FileInfoDataSet	mFileInfo
jafar::datareader::PositionReader *	mPosReader
jafar::datareader::ImageReader *	mImgReader
std::string	mExcepStr

Constructor & Destructor Documentation

jafar::traversability::DataProvider::DataProvider ( FileInfoDataSet fileInfo )

Constructor where the data specific parameters are passed in the form of a struct FileInfoDataSet; FileInfoDataSet.

Parameters:

fileInfo of type FileInfoDataSet, containing data set specific parameters

jafar::traversability::DataProvider::DataProvider	(	std::string	pathConfigFile,
		std::string	excepStr = `"none"`
	)

Constructor where the data specific parameters are loaded with the help of a config file.

If either image or pose data are not available, the corresponding path parameters delimited by a string which can be specified with the help of the second argument. By default, this "exception string" is "none".

Todo:: write list with config file entries.

Parameters:

pathConfigFile	string defining the config file
excepStr	string delimiting unavailable data. Default value: "none"

Member Function Documentation

void jafar::traversability::DataProvider::getData	(	int	idx,
		CameraPoseParameters &	camPose,
		jafar::image::Image &	img
	)

Function that combines getPose and getImage.

Parameters:

idx	index of sample
camPose	output of type CameraPoseParameters containing pose data
img	output of type image::Image containing the image

void jafar::traversability::DataProvider::getImage	(	int	idx,
		jafar::image::Image &	img
	)

Get image data for sample idx provided that the DataReader is set up successfully.

Parameters:

idx	index of sample
img	output of type image::Image containing the image

jafar::image::Image jafar::traversability::DataProvider::getImage ( int idx )

Get image data for sample idx provided that the DataReader is set up successfully.

Parameters:

idx	index of sample

Returns:: output of type image::Image containing the image

void jafar::traversability::DataProvider::getPose	(	int	idx,
		CameraPoseParameters &	camPose
	)

Get pose data for sample idx provided that the DataReader is set up successfully.

Parameters:

idx	index of sample
camPose	output of type CameraPoseParameters containing pose data

CameraPoseParameters jafar::traversability::DataProvider::getPose ( int idx )

Get pose data for sample idx provided that the DataReader is set up successfully.

Parameters:

idx	index of sample

Returns:: output of type CameraPoseParameters containing pose data

void jafar::traversability::DataProvider::initImageReader ( FileInfoDataSet fileInfo ) [private]

Init ImageReader.

Parameters:

fileInfo file info object specifying the data set

void jafar::traversability::DataProvider::initPositionReader ( FileInfoDataSet fileInfo ) [private]

Init PositionReader.

Parameters:

fileInfo file info object specifying the data set

FileInfoDataSet jafar::traversability::DataProvider::parseConfigFile ( std::string pathConfigFile )

Parse config file in order to gather relevant information for the FileInfoDataSet object.

Parameters:

pathConfigFile string specifying the config file

Returns:: file info, contained in the struct FileInfoDataSet

ImageInfo jafar::traversability::DataProvider::parseConfigFileForImageInfo ( std::string pathConfigFile )

Parse config file in order to gather image info-.

Parameters:

pathConfigFile string specifying the config file

Returns:: image info, contained in the struct ImageInfo

CameraIntrinsicParameters jafar::traversability::DataProvider::parseConfigFileForInternals ( std::string pathConfigFile )

Parse config file in order to gather the intrinsic parameters of the camera (calibration parameters).

Parameters:

pathConfigFile string specifying the config file

Returns:: calibration parameters, contained in the struct CameraIntrinsicParameters

template<typename T >

T jafar::traversability::DataProvider::parseFile	(	std::string	pathConfigFile,
		std::string	key
	)		`[inline, private]`

Parse a config file for a key.

If the key is not found, 0 or the empty string is returned, depending on the typename.

Parameters:

pathConfigFile	path to the config file
key	string that specifies the entry

Returns:: return variable can be a string, double, float, int, ...

Definition at line 161 of file trv_dataProvider.hpp.

void jafar::traversability::DataProvider::setup	(	std::string	pathConfigFile,
		std::string	excepStr = `"none"`
	)

To setup DataProvider.

This function is used by the constructor, but it can be used by the user also.

Parameters:

pathConfigFile	string defining the config file
excepStr	string delimiting unavailable data. Default value: "none"

void jafar::traversability::DataProvider::setup ( FileInfoDataSet fileInfo )

To setup DataProvider.

This function is used by the constructor, but it can be used by the user also.

Parameters:

fileInfo of type FileInfoDataSet, containing data set specific parameters

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

modules/traversability/include/traversability/trv_dataProvider.hpp

Detailed Description

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation