DBReader.h

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef DBREADER_H_
#define DBREADER_H_
 
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Camera.h>
 
#include <opencv2/core/core.hpp>
 
#include <set>
#include <list>
 
namespace rtabmap {
 
class DBDriver;
 
class RTABMAP_CORE_EXPORT DBReader : public Camera {
public:
  DBReader(const std::string & databasePath,
       float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
       bool odometryIgnored = false,
       bool ignoreGoalDelay = false,
       bool goalsIgnored = false,
       int startId = 0,
       const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
       int stopId = 0,
       bool intermediateNodesIgnored = false,
       bool landmarksIgnored = false,
       bool featuresIgnored = false,
       int startMapId = 0,
       int stopMapId = -1,
       bool priorsIgnored = false,
       bool imuIgnored = false,
       bool intermediateNodesAreNormalNodes = false,
       const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>(),
       bool occupancyGridsIgnored = false);
  DBReader(const std::list<std::string> & databasePaths,
       float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
       bool odometryIgnored = false,
       bool ignoreGoalDelay = false,
       bool goalsIgnored = false,
       int startId = 0,
       const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
       int stopId = 0,
       bool intermediateNodesIgnored = false,
       bool landmarksIgnored = false,
       bool featuresIgnored = false,
       int startMapId = 0,
       int stopMapId = -1,
       bool priorsIgnored = false,
       bool imuIgnored = false,
       bool intermediateNodesAreNormalNodes = false,
       const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>(),
       bool occupancyGridsIgnored = false);
  virtual ~DBReader();
 
  virtual bool init(
      const std::string & calibrationFolder = ".",
      const std::string & cameraName = "");
 
  virtual bool isCalibrated() const;
  virtual std::string getSerial() const;
  virtual bool odomProvided() const {return !_odometryIgnored;}
  virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06);
 
  const DBDriver * driver() const {return _dbDriver;}
 
protected:
  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
 
private:
  SensorData getNextData(SensorCaptureInfo * info = 0);
  void checkArguments();
 
private:
  std::list<std::string> _paths;
  bool _odometryIgnored;
  bool _ignoreGoalDelay;
  bool _goalsIgnored;
  int _startId;
  int _stopId;
  std::vector<unsigned int> _cameraIndices;
  bool _intermediateNodesIgnored;
  bool _intermediateNodesAreNormalNodes;
  bool _landmarksIgnored;
  bool _featuresIgnored;
  bool _priorsIgnored;
  bool _imuIgnored;
  int _startMapId;
  int _stopMapId;
  std::vector<Transform> _cameraLocalTransformOverrides;
  bool _occupancyGridsIgnored;
 
  DBDriver * _dbDriver;
  UTimer _timer;
  std::set<int> _ids;
  std::set<int>::iterator _currentId;
  int _previousMapId;
  cv::Mat _previousInfMatrix;
  double _previousStamp;
  int _previousMapID;
  bool _calibrated;
};
 
} /* namespace rtabmap */
#endif /* DBREADER_H_ */