/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // 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: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's 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. // // * The name of the copyright holders may not 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 Itseez Inc 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. // //M*/ #include "opencv2/datasets/slam_tumindoor.hpp" #include "opencv2/datasets/util.hpp" #include <cstring> namespace cv { namespace datasets { using namespace std; class SLAM_tumindoorImp CV_FINAL : public SLAM_tumindoor { public: SLAM_tumindoorImp() {} //SLAM_tumindoorImp(const string &path); virtual ~SLAM_tumindoorImp() CV_OVERRIDE {} virtual void load(const string &path) CV_OVERRIDE; private: void loadDataset(const string &path); }; /*SLAM_tumindoorImp::SLAM_tumindoorImp(const string &path) { loadDataset(path); }*/ void SLAM_tumindoorImp::load(const string &path) { loadDataset(path); } void SLAM_tumindoorImp::loadDataset(const string &path) { train.push_back(vector< Ptr<Object> >()); test.push_back(vector< Ptr<Object> >()); validation.push_back(vector< Ptr<Object> >()); string infoPath(path + "info/"); // get info map name, .csv should be only one such file in folder string csvName; vector<string> infoNames; getDirList(infoPath, infoNames); for (vector<string>::iterator it=infoNames.begin(); it!=infoNames.end(); ++it) { string &name = *it; if (name.length()>3 && name.substr( name.length()-4, 4 )==".csv") { if (csvName.length()==0) { csvName = name; } else { printf("more than one .csv file in info folder\n"); return; } } } if (csvName.length()==0) { printf("didn't find .csv file in info folder\n"); return; } ifstream infile((infoPath + csvName).c_str()); string line; while (getline(infile, line)) { vector<string> elems; split(line, elems, ';'); Ptr<SLAM_tumindoorObj> curr(new SLAM_tumindoorObj); curr->name = elems[0]; if (curr->name.substr(0, strlen("dslr_left")) == "dslr_left") { curr->type = LEFT; } else if (curr->name.substr(0, strlen("dslr_right")) == "dslr_right") { curr->type = RIGHT; } else { curr->type = LADYBUG; } for (unsigned int i=0; i<4; ++i) { for (unsigned int j=0; j<4; ++j) { curr->transformMat(i, j) = atof(elems[1 + j + i*4].c_str()); } } train.back().push_back(curr); } } Ptr<SLAM_tumindoor> SLAM_tumindoor::create() { return Ptr<SLAM_tumindoorImp>(new SLAM_tumindoorImp); } } }