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/*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/core.hpp>
#include <cstdio>
#include <string>
#include <vector>
using namespace std;
using namespace cv;
using namespace cv::datasets;
int main(int argc, char *argv[])
{
const char *keys =
"{ help h usage ? | | show this message }"
"{ path p |true| path to dataset folders }";
CommandLineParser parser(argc, argv, keys);
string path(parser.get<string>("path"));
if (parser.has("help") || path=="true")
{
parser.printMessage();
return -1;
}
Ptr<SLAM_tumindoor> dataset = SLAM_tumindoor::create();
dataset->load(path);
// ***************
// dataset contains image and its information.
// For example, let output first image information and dataset size.
printf("dataset size: %u\n", (unsigned int)dataset->getTrain().size());
SLAM_tumindoorObj *example = static_cast<SLAM_tumindoorObj *>(dataset->getTrain()[0].get());
printf("first image:\ntype: %u\n", example->type);
string imagePath(path);
if (LADYBUG == example->type)
{
imagePath += "ladybug/";
} else
{
imagePath += "dslr/";
}
printf("file name: %s\n", (imagePath + example->name).c_str());
printf("\ntransformation matrix:\n");
for (unsigned int i=0; i<4; ++i)
{
for (unsigned int j=0; j<4; ++j)
{
printf("%f ", example->transformMat(i, j));
}
printf("\n");
}
return 0;
}
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