MRPT  1.9.9
Classes | Modules
[mrpt-base]

Detailed Description

mrpt-base: Obsolete in MRPT 2.0.0

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In MRPT 2.0, mrpt-base (as defined in MRPT 1.x.x) has been split into many smaller libraries for the sake of modularity of easy of code reusability:

Collaboration diagram for [mrpt-base]:

Classes

class  mrpt::config::CConfigFile
 This class allows loading and storing values and vectors of different types from ".ini" files easily. More...
 
class  mrpt::config::CConfigFileBase
 This class allows loading and storing values and vectors of different types from a configuration text, which can be implemented as a ".ini" file, a memory-stored string, etc... More...
 
class  mrpt::config::CConfigFileMemory
 This class implements a config file-like interface over a memory-stored string list. More...
 
class  mrpt::config::CLoadableOptions
 This is a virtual base class for sets of options than can be loaded from and/or saved to configuration plain-text files. More...
 
class  mrpt::expr::CRuntimeCompiledExpression
 A wrapper of exprtk runtime expression compiler: it takes a string representing an expression (from a simple mathematical formula to a complete program), compiles it and evaluates its result as many times as required. More...
 
class  mrpt::hmtslam::CMHPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...
 
class  mrpt::hmtslam::CPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. More...
 
class  mrpt::opengl::PLY_Importer
 A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format. More...
 
class  mrpt::opengl::PLY_Exporter
 A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format. More...
 
class  mrpt::system::CConsoleRedirector
 By creating an object of this class, all the output to std::cout (and std::cerr) will be redirected to a text file, and optionally also shown on the console. More...
 
class  mrpt::system::mrptEventOnDestroy
 An event sent by any CObservable object (automatically) just before being destroyed and telling its observers to unsubscribe. More...
 
struct  mrpt::tfest::TMatchingPair
 A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D. More...
 
class  mrpt::tfest::TMatchingPairList
 A list of TMatchingPair. More...
 

Modules

 Scheduler helpers
 (in #include <mrpt/system/scheduler.h>)
 

Parsing of textfiles with poses

template<class POSE_T >
void readFileWithPoses (const std::string &fname, std::vector< POSE_T > *poses_vec, std::vector< mrpt::system::TTimeStamp > *timestamps=NULL, bool substract_init_offset=false)
 Parse the textfile and fill in the corresponding poses vector. More...
 

Function Documentation

◆ readFileWithPoses()

template<class POSE_T >
void readFileWithPoses ( const std::string fname,
std::vector< POSE_T > *  poses_vec,
std::vector< mrpt::system::TTimeStamp > *  timestamps = NULL,
bool  substract_init_offset = false 
)

Parse the textfile and fill in the corresponding poses vector.

The file to be parsed is to contain 2D or 3D poses along with their corresponding timestamps, one line for each.

The expected format is the following:

For 2D Poses: timestamp x y theta (in rad) For 3D Poses in RPY form : x y z yaw pitch roll For 3D Poses in Quaternion form : x y z qw qx qy qz For 3D Poses in Quaternion form [TUM Datasets] : x y z qx qy qz qw

The 2D format abides to the groundtruth file format used by the GridMapNavSimul application

The TUM format is compatible with the groundtruth format for the TUM RGBD datasets as generated by the * rgbd_dataset2rawlog MRPT tool.

Parameters
[in]fnameFilename from which the timestamps and poses are read
[out]poses_vecstd::vector which is to contain the 2D poses.
[out]timestampsstd::vector which is to contain the timestamps for the corresponding ground truth poses. Ignore this argument if timestamps are not needed.
[in]substract_init_offsetIf true, the filled poses are to start from 0, that means, that if the first found pose is non-zero, it's going to be considered and offset and substracted from all poses in the file.
See also
https://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011

Definition at line 134 of file pose_utils.h.

References ASSERTMSG_, mrpt::system::fileExists(), mrpt::format(), mrpt::poses::internal::getPoseFromString(), MRPT_END, and MRPT_START.

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