mars::ReadVisionData Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/data_utils/read_vision_data.h>

Collaboration diagram for mars::ReadVisionData:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ReadVisionData (std::vector< BufferEntryType > *data_out, std::shared_ptr< SensorAbsClass > sensor, const std::string &file_path, const double &time_offset=0)

Constructor & Destructor Documentation

ReadVisionData()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::ReadVisionData::ReadVisionData ( std::vector< BufferEntryType > *  data_out, std::shared_ptr< SensorAbsClass >  sensor, const std::string &  file_path, const double &  time_offset = 0  )

inline

  {
    std::vector<std::string> expect_entry = { "t", "p_x", "p_y", "p_z", "q_w", "q_x", "q_y", "q_z" };
 
    CsvDataType csv_data;
    ReadCsv(&csv_data, file_path);
 
    unsigned long number_of_datapoints = csv_data["t"].size();
    data_out->resize(number_of_datapoints);
 
    for (size_t k = 0; k < number_of_datapoints; k++)
    {
      Time time = csv_data["t"][k] + time_offset;
 
      Eigen::Vector3d position(csv_data["p_x"][k], csv_data["p_y"][k], csv_data["p_z"][k]);
      Eigen::Quaterniond orientation(csv_data["q_w"][k], csv_data["q_x"][k], csv_data["q_y"][k], csv_data["q_z"][k]);
      orientation = Utils::NormalizeQuaternion(orientation, "vision csv reader");
 
      BufferDataType data;
      data.set_measurement(std::make_shared<VisionMeasurementType>(position, orientation));
 
      BufferEntryType current_entry(time, data, sensor);
      data_out->at(k) = current_entry;
    }
  }

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

• read_vision_data.h