slam_kitti.cpp 5.26 KB
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
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//  If you do not agree to this license, do not download, install,
//  copy or use the software.
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//
//                           License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2014, Itseez Inc, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
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//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
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#include "opencv2/datasets/slam_kitti.hpp"
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#include "opencv2/datasets/util.hpp"
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namespace cv
{
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namespace datasets
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{

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using namespace std;

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class SLAM_kittiImp : public SLAM_kitti
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{
public:
    SLAM_kittiImp() {}
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    //SLAM_kittiImp(const string &path);
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    virtual ~SLAM_kittiImp() {}

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    virtual void load(const string &path);
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private:
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    void loadDataset(const string &path);
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};

/*SLAM_kittiImp::SLAM_kittiImp(const string &path)
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{
    loadDataset(path);
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}*/
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void SLAM_kittiImp::load(const string &path)
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{
    loadDataset(path);
}

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void SLAM_kittiImp::loadDataset(const string &path)
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{
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    train.push_back(vector< Ptr<Object> >());
    test.push_back(vector< Ptr<Object> >());
    validation.push_back(vector< Ptr<Object> >());

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    string pathSequence(path + "sequences/");
    vector<string> fileNames;
    getDirList(pathSequence, fileNames);
    for (vector<string>::iterator it=fileNames.begin(); it!=fileNames.end(); ++it)
    {
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        Ptr<SLAM_kittiObj> curr(new SLAM_kittiObj);
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        curr->name = *it;
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        string currPath(pathSequence + curr->name);
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        // loading velodyne
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        string pathVelodyne(currPath + "/velodyne/");
        vector<string> velodyneNames;
        getDirList(pathVelodyne, velodyneNames);
        for (vector<string>::iterator itV=velodyneNames.begin(); itV!=velodyneNames.end(); ++itV)
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        {
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            curr->velodyne.push_back(*itV);
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        }

        // loading gray & color images
        for (unsigned int i=0; i<=3; ++i)
        {
            char tmp[2];
            sprintf(tmp, "%u", i);
            string pathImage(currPath + "/image_" + tmp + "/");
            vector<string> imageNames;
            getDirList(pathImage, imageNames);
            for (vector<string>::iterator itImage=imageNames.begin(); itImage!=imageNames.end(); ++itImage)
            {
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                curr->images[i].push_back(*itImage);
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            }
        }

        // loading times
        ifstream infile((currPath + "/times.txt").c_str());
        string line;
        while (getline(infile, line))
        {
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            curr->times.push_back(atof(line.c_str()));
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        }

        // loading calibration
        ifstream infile2((currPath + "/calib.txt").c_str());
        for (unsigned int i=0; i<4; ++i)
        {
            getline(infile2, line);
            vector<string> elems;
            split(line, elems, ' ');
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            vector<string>::iterator itE=elems.begin();
            for (++itE; itE!=elems.end(); ++itE)
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            {
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                curr->p[i].push_back(atof((*itE).c_str()));
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            }
        }

        // loading poses
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        ifstream infile3((path + "poses/" + curr->name + ".txt").c_str());
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        while (getline(infile3, line))
        {
            pose p;

            unsigned int i=0;
            vector<string> elems;
            split(line, elems, ' ');
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            for (vector<string>::iterator itE=elems.begin(); itE!=elems.end(); ++itE, ++i)
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            {
                if (i>11)
                {
                    break;
                }
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                p.elem[i] = atof((*itE).c_str());
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            }

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            curr->posesArray.push_back(p);
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        }

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        train.back().push_back(curr);
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    }
}
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Ptr<SLAM_kitti> SLAM_kitti::create()
{
    return Ptr<SLAM_kittiImp>(new SLAM_kittiImp);
}

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}
}