read_vision_data.h

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// Copyright (C) 2022 Christian Brommer, Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the author at <christian.brommer@ieee.org>
 
#ifndef READ_VISION_DATA_H
#define READ_VISION_DATA_H
 
#include <mars/data_utils/read_csv.h>
#include <mars/sensors/vision/vision_measurement_type.h>
#include <mars/time.h>
#include <mars/type_definitions/buffer_data_type.h>
#include <mars/type_definitions/buffer_entry_type.h>
#include <Eigen/Dense>
#include <vector>
 
namespace mars
{
class ReadVisionData
{
public:
  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)
  {
    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;
    }
  }
};
}  // namespace mars
 
#endif  // READ_VISION_DATA_H