reader_tum.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef __READER_TUM_HPP
#define __READER_TUM_HPP


#include <Eigen/Dense>
#include <cstdint>
#include <fstream>
#include <string>

#include "reader_base.hpp"
#include "se/image/image.hpp"



namespace se {



class TUMReader : public Reader {
    public:
    TUMReader(const ReaderConfig& c);


    void restart();


    std::string name() const;

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    private:
    static constexpr float tum_inverse_scale_ = 1.0f / 5000.0f;
    float inverse_scale_;

    // TODO Allow setting the max_match_timestamp_dist_ and
    // max_interp_timestamp_dist_ at runtime from the YAML file. Not sure how
    // to handle this yet since they only apply to the TUM dataset reader.
    static constexpr double max_match_timestamp_dist_ = 0.02;

    static constexpr double max_interp_timestamp_dist_ = 10.0 * max_match_timestamp_dist_;

    std::vector<std::string> depth_filenames_;

    std::vector<std::string> rgb_filenames_;

    ReaderStatus nextDepth(Image<float>& depth_image);

    ReaderStatus nextRGBA(Image<uint32_t>& rgba_image);
};



} // namespace se


#endif