OKVIS ROS
|
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 ¶meters) 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... | |
This class reads and parses config file.
okvis::VioParametersReader::VioParametersReader | ( | ) |
The default constructor.
okvis::VioParametersReader::VioParametersReader | ( | const std::string & | filename | ) |
The constructor. This calls readConfigFile().
filename | Configuration filename. |
|
inlinevirtual |
Trivial destructor.
|
protected |
Get the camera calibration via the configuration file.
[out] | calibrations | Read calibration. |
[in] | cameraNode | File node pointing to the cameras sequence. |
|
protected |
Get the camera calibrations via the visensor API.
[out] | calibrations | The calibrations. |
|
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.
calibrations | The calibrations. |
configurationFile | The config file. |
Reimplemented in okvis::RosParametersReader.
|
inline |
Get parameters.
[out] | parameters | A copy of the parameters. |
|
protected |
Parses booleans from a cv::FileNode. OpenCV sadly has no implementation like this.
[in] | node | The file node. |
[out] | val | The parsed value. |
void okvis::VioParametersReader::readConfigFile | ( | const std::string & | filename | ) |
Read and parse a config file. To get the result call getParameters().
filename | Configuration filename. |
|
protected |
If readConfigFile() has been called at least once this is true.
bool okvis::VioParametersReader::useDriver |
Directly interface with driver without ROS message passing.
|
protected |
The parameters.
std::shared_ptr<void> okvis::VioParametersReader::viSensor |