euroc/
lib.rs

1#![warn(
2    rust_2018_idioms,
3    elided_lifetimes_in_paths,
4    clippy::all,
5    clippy::nursery
6)]
7
8mod camera;
9mod common;
10mod ground_truth;
11mod imu;
12mod position;
13
14use std::path::{Path, PathBuf};
15
16use anyhow::{ensure, Result};
17
18pub use self::{camera::*, common::*, ground_truth::*, imu::*, position::*};
19
20#[derive(Debug)]
21pub struct EuRoC {
22    root: PathBuf,
23}
24
25impl EuRoC {
26    pub fn new<P: AsRef<Path>>(root: P) -> Result<Self> {
27        ensure!(root.as_ref().is_dir());
28
29        Ok(Self {
30            root: root.as_ref().to_owned(),
31        })
32    }
33
34    pub fn left_camera(&self) -> Result<CameraRecords> {
35        CameraRecords::new(self.root.join("cam0"))
36    }
37
38    pub fn right_camera(&self) -> Result<CameraRecords> {
39        CameraRecords::new(self.root.join("cam1"))
40    }
41
42    pub fn imu(&self) -> Result<ImuData> {
43        ImuData::new(self.root.join("imu0"))
44    }
45
46    pub fn position(&self) -> Result<PositionData> {
47        PositionData::new(self.root.join("leica0"))
48    }
49
50    pub fn ground_truth(&self) -> Result<GroundTruthData> {
51        GroundTruthData::new(self.root.join("state_groundtruth_estimate0"))
52    }
53}
54
55#[cfg(test)]
56mod test {
57    use super::*;
58
59    #[test]
60    fn right_camera() -> Result<()> {
61        let _ = EuRoC::new("test_data")?.right_camera()?;
62
63        Ok(())
64    }
65}
euroc/lib.rs

euroc/
lib.rs
