okvis::VioParametersReader Class Reference

This class reads and parses config file. More...

#include <VioParametersReader.hpp>

Classes
struct	CameraCalibration
	Struct that contains all the camera calibration information. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VioParametersReader ()
	The default constructor. More...
	VioParametersReader (const std::string &filename)
	The constructor. This calls readConfigFile(). More...
virtual	~VioParametersReader ()
	Trivial destructor. More...
void	readConfigFile (const std::string &filename)
	Read and parse a config file. To get the result call getParameters(). More...
bool	getParameters (okvis::VioParameters &parameters) const
	Get parameters. More...

Public Attributes
bool	useDriver
	Directly interface with driver without ROS message passing. More...
std::shared_ptr< void >	viSensor

Protected Member Functions
bool	parseBoolean (cv::FileNode node, bool &val) const
	Parses booleans from a cv::FileNode. OpenCV sadly has no implementation like this. More...
virtual bool	getCameraCalibration (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations, cv::FileStorage &configurationFile)
	Get the camera calibration. This looks for the calibration in the configuration file first. If this fails it will directly get the calibration from the sensor, if useDriver is set to true. More...
bool	getCalibrationViaConfig (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations, cv::FileNode cameraNode) const
	Get the camera calibration via the configuration file. More...
bool	getCalibrationViaVisensorAPI (std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &calibrations) const
	Get the camera calibrations via the visensor API. More...

Protected Attributes
bool	readConfigFile_
	If readConfigFile() has been called at least once this is true. More...
okvis::VioParameters	vioParameters_
	The parameters. More...

Detailed Description

This class reads and parses config file.

Constructor & Destructor Documentation

okvis::VioParametersReader::VioParametersReader

(

)

The default constructor.

okvis::VioParametersReader::VioParametersReader

(

const std::string &

filename

)

The constructor. This calls readConfigFile().

Parameters

filename

Configuration filename.

virtual okvis::VioParametersReader::~VioParametersReader ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

bool okvis::VioParametersReader::getCalibrationViaConfig ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations, cv::FileNode  cameraNode  ) const

protected

Get the camera calibration via the configuration file.

Parameters

[out]	calibrations	Read calibration.
[in]	cameraNode	File node pointing to the cameras sequence.

Returns

True if reading and parsing of calibration was successful.

bool okvis::VioParametersReader::getCalibrationViaVisensorAPI ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations ) const

protected

Get the camera calibrations via the visensor API.

Parameters

[out]

calibrations

The calibrations.

Returns

True if successful.

bool okvis::VioParametersReader::getCameraCalibration ( std::vector< CameraCalibration, Eigen::aligned_allocator< CameraCalibration >> &  calibrations, cv::FileStorage &  configurationFile  )

protectedvirtual

Get the camera calibration. This looks for the calibration in the configuration file first. If this fails it will directly get the calibration from the sensor, if useDriver is set to true.

Remarks

Overload this function if you want to get the calibrations via ROS for example.

Parameters

calibrations	The calibrations.
configurationFile	The config file.

Returns

True if reading of the calibration was successful.

bool okvis::VioParametersReader::getParameters ( okvis::VioParameters &  parameters ) const

inline

Get parameters.

Parameters

[out]

parameters

A copy of the parameters.

Returns

True if parameters have been read from a configuration file. If it returns false then the variable parameters has not been changed.

bool okvis::VioParametersReader::parseBoolean ( cv::FileNode  node, bool &  val  ) const

protected

Parses booleans from a cv::FileNode. OpenCV sadly has no implementation like this.

Parameters

[in]	node	The file node.
[out]	val	The parsed value.

Returns

True if parsing was successful. If it returns false then the variable val has not been changed.

void okvis::VioParametersReader::readConfigFile

(

const std::string &

filename

)

Read and parse a config file. To get the result call getParameters().

Parameters

filename

Configuration filename.

Member Data Documentation

bool okvis::VioParametersReader::readConfigFile_

protected

If readConfigFile() has been called at least once this is true.

bool okvis::VioParametersReader::useDriver

Directly interface with driver without ROS message passing.

okvis::VioParameters okvis::VioParametersReader::vioParameters_

protected

The parameters.

std::shared_ptr<void> okvis::VioParametersReader::viSensor

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

• okvis_common/include/okvis/VioParametersReader.hpp
• okvis_common/src/VioParametersReader.cpp