cloudViewer::data::DemoDopplerICPSequence Class Reference

Data class for DemoDopplerICPSequence contains an example sequence of 100 point clouds with Doppler velocity channel and corresponding ground truth poses. The sequence was generated using the CARLA simulator. More...

#include <Dataset.h>

Inheritance diagram for cloudViewer::data::DemoDopplerICPSequence:

Collaboration diagram for cloudViewer::data::DemoDopplerICPSequence:

Public Member Functions
	DemoDopplerICPSequence (const std::string &data_root="")
std::vector< std::string >	GetPaths () const
	Returns the list of the point cloud paths in the sequence. More...
std::string	GetPath (std::size_t index) const
	Path to the point cloud at index. More...
std::string	GetCalibrationPath () const
	Path to the calibration metadata file, containing transformation between the vehicle and sensor frames and the time period. More...
std::string	GetTrajectoryPath () const
	Path to the ground truth poses for the entire sequence. More...
bool	GetCalibration (Eigen::Matrix4d &calibration, double &period) const
	Returns the vehicle to sensor calibration transformation and the time period (in secs) between sequential point cloud scans. More...
std::vector< std::pair< double, Eigen::Matrix4d > >	GetTrajectory () const
	Returns a list of (timestamp, pose) representing the ground truth trajectory of the sequence. More...
Public Member Functions inherited from cloudViewer::data::DownloadDataset
	DownloadDataset (const std::string &prefix, const DataDescriptor &data_descriptor, const std::string &data_root="")
	DownloadDataset (const std::string &prefix, const std::vector< DataDescriptor > &data_descriptors, const std::string &data_root="")
virtual	~DownloadDataset ()
Public Member Functions inherited from cloudViewer::data::Dataset
	Dataset (const std::string &prefix, const std::string &data_root="")
	Parameterized Constructor. More...
virtual	~Dataset ()
const std::string	GetDataRoot () const
	Get data root directory. The data root is set at construction time or automatically determined. More...
const std::string	GetPrefix () const
	Get prefix for the dataset. More...
const std::string	GetDownloadDir () const
	Get absolute path to download directory. i.e. ${data_root}/download/${prefix}. More...
const std::string	GetExtractDir () const
	Get absolute path to extract directory. i.e. ${data_root}/extract/${prefix}. More...

Additional Inherited Members
Protected Member Functions inherited from cloudViewer::data::DownloadDataset
bool	HasDownloaded (const DataDescriptor &data_descriptor) const
	Check if all files are downloaded and MD5 checksums are valid. More...
Protected Member Functions inherited from cloudViewer::data::Dataset
void	CheckPathsExist (const std::vector< std::string > &paths) const
	Check if the paths exists after extraction. More...
Protected Attributes inherited from cloudViewer::data::DownloadDataset
std::vector< DataDescriptor >	data_descriptors_
Protected Attributes inherited from cloudViewer::data::Dataset
std::string	data_root_
	CloudViewer data root. More...
std::string	prefix_
	Dataset prefix. More...

Detailed Description

Data class for DemoDopplerICPSequence contains an example sequence of 100 point clouds with Doppler velocity channel and corresponding ground truth poses. The sequence was generated using the CARLA simulator.

Definition at line 355 of file Dataset.h.

Constructor & Destructor Documentation

DemoDopplerICPSequence()

cloudViewer::data::DemoDopplerICPSequence::DemoDopplerICPSequence

(

const std::string &

data_root = ""

)

Definition at line 78 of file DemoDopplerICPSequence.cpp.

References cloudViewer::data::Dataset::GetExtractDir().

Member Function Documentation

GetCalibration()

bool cloudViewer::data::DemoDopplerICPSequence::GetCalibration	(	Eigen::Matrix4d &	calibration,
		double &	period
	)		const

Returns the vehicle to sensor calibration transformation and the time period (in secs) between sequential point cloud scans.

Definition at line 100 of file DemoDopplerICPSequence.cpp.

References cloudViewer::utility::IJsonConvertible::EigenMatrix4dFromJsonArray().

Referenced by cloudViewer::t::pipelines::registration::BenchmarkDopplerICP().

GetCalibrationPath()

std::string cloudViewer::data::DemoDopplerICPSequence::GetCalibrationPath ( ) const

inline

Path to the calibration metadata file, containing transformation between the vehicle and sensor frames and the time period.

Definition at line 365 of file Dataset.h.

Referenced by cloudViewer::data::pybind_demo_doppler_icp_sequence().

GetPath()

std::string cloudViewer::data::DemoDopplerICPSequence::GetPath

(

std::size_t

index

)

const

Path to the point cloud at index.

Definition at line 91 of file DemoDopplerICPSequence.cpp.

References LogError.

Referenced by cloudViewer::t::pipelines::registration::BenchmarkDopplerICP().

GetPaths()

std::vector<std::string> cloudViewer::data::DemoDopplerICPSequence::GetPaths ( ) const

inline

Returns the list of the point cloud paths in the sequence.

Definition at line 360 of file Dataset.h.

Referenced by cloudViewer::data::pybind_demo_doppler_icp_sequence().

GetTrajectory()

std::vector< std::pair< double, Eigen::Matrix4d > > cloudViewer::data::DemoDopplerICPSequence::GetTrajectory

(

)

const

Returns a list of (timestamp, pose) representing the ground truth trajectory of the sequence.

Definition at line 116 of file DemoDopplerICPSequence.cpp.

GetTrajectoryPath()

std::string cloudViewer::data::DemoDopplerICPSequence::GetTrajectoryPath ( ) const

inline

Path to the ground truth poses for the entire sequence.

Definition at line 367 of file Dataset.h.

Referenced by cloudViewer::data::pybind_demo_doppler_icp_sequence().

---

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

• /root/ACloudViewer/libs/cloudViewer/data/Dataset.h
• /root/ACloudViewer/libs/cloudViewer/data/dataset/DemoDopplerICPSequence.cpp