DatasetTransformDelayed.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
NN *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_DATASETTRANSFORMDELAYED_H
#define ROBOTSIO_DATASETTRANSFORMDELAYED_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/DatasetDataStreamDelayed.h>
#include <RobotsIO/Utils/Transform.h>
 
namespace RobotsIO {
    namespace Utils {
        class DatasetTransformDelayed;
    }
}
 
 
class RobotsIO::Utils::DatasetTransformDelayed : public RobotsIO::Utils::DatasetDataStreamDelayed,
                                                 public RobotsIO::Utils::Transform
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
        DatasetTransformDelayed(const double& fps, const double& simulated_fps, const bool simulate_inference_time, const std::string& file_path, const std::size_t& skip_rows, const std::size_t& skip_cols, const std::size_t& expected_cols, const int rx_time_index = RobotsIO::Utils::DatasetDataStream::NoTimeIndex, const int tx_time_index = RobotsIO::Utils::DatasetDataStream::NoTimeIndex);
 
    virtual ~DatasetTransformDelayed();
 
    Eigen::Transform<double, 3, Eigen::Affine> transform() override;
 
    bool freeze(const bool blocking = false) override;
 
    int get_frames_between_iterations() const override;
 
private:
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
 
    double fps_;
 
    double simulated_fps_;
 
    const std::string log_name_ = "DatasetTransformDelayed";
};
 
#endif /* ROBOTSIO_DATASETTRANSFORMDELAYED_H */