[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:

• [mrpt-bayes]
• [mrpt-comms]
• mrpt_config_grp
• mrpt_expr_grp
• mrpt_db_grp
• [mrpt-img]
• mrpt_io_grp
• [mrpt-math]
• [mrpt-random]
• [mrpt-rtti]
• [mrpt-serialization]
• [mrpt-system]
• [mrpt-typemeta]

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]	fname	Filename from which the timestamps and poses are read
[out]	poses_vec	std::vector which is to contain the 2D poses.
[out]	timestamps	std::vector which is to contain the timestamps for the corresponding ground truth poses. Ignore this argument if timestamps are not needed.
[in]	substract_init_offset	If 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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