Dataset Class Reference

The Dataset class. More...

Inheritance diagram for Dataset:

Public Types
typedef std::vector< std::string >	StrVec

Public Member Functions
	Dataset (const std::string &dataset)
std::string	name () const
virtual std::string	type () const
virtual bool	isOpened ()
virtual FramePtr	grabFrame ()
virtual bool	open (const std::string &dataset)
virtual bool	isLive () const
Public Member Functions inherited from GObject
virtual void	call (const std::string &command, void *arg=NULL)
virtual void	draw ()
virtual bool	toByteArray (std::vector< uchar > &array)
virtual bool	fromByteArray (std::vector< uchar > &array)

Protected Attributes
std::string	_name
DatasetPtr	_impl

Detailed Description

The Dataset class.

Here is a little demo to implement an OpenCV monocular Dataset

#include <opencv2/opencv.hpp>
#include <GSLAM/core/GSLAM.h>

using namespace GSLAM;
using namespace std;

class DatasetOpenCVMono : public GSLAM::Dataset
{
public:
    DatasetOpenCVMono(){}
    virtual std::string type() const{return "DatasetOpenCVMono";}

    virtual bool open(const std::string& dataset){
        var.parseFile(dataset.c_str());

        if(!video.open(var.get<std::string>("video","")) return false;
        camera=Camera(var.get<std::vector<double>>("camera_paras",{}));
        if(!camera.isValid()) return false;
        _name=dataset;
        frameId=1;
        return true;
    }

    virtual bool isOpened(){return video.isOpened()&&camera.isValid();}

    virtual FramePtr grabFrame(){
        double timestamp=GSLAM::TicToc::timestamp();
        cv::Mat img;
        video>>img;
        return FramePtr(new FrameMono(frameId++,timestamp,gimg,camera,IMAGE_BGRA));
    }

    GSLAM::FrameID   frameId;
    cv::VideoCapture video;
    GSLAM::Camera    camera;
};

GSLAM_REGISTER_DATASET(DatasetOpenCVMono,cvmono)

Compile this file as a shared library with name "gslamDB_cvmono", or compile this file along with the excutable file. It would be very easy to use the dataset:

Dataset dataset("file_path.cvmono");
if(dataset.isOpened())
   auto fr=dataset.grabFrame();// obtain a frame