vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
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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_kitti.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_kitti> dataset = SLAM_kitti::create();
+    dataset->load(path);
+
+    // ***************
+    // dataset contains sequence with name and its data.
+    // For example, let output first sequence and dataset size.
+    printf("dataset size: %u\n", (unsigned int)dataset->getTrain().size());
+
+    SLAM_kittiObj *example = static_cast<SLAM_kittiObj *>(dataset->getTrain()[0].get());
+    printf("first dataset sequence:\n%s\n", example->name.c_str());
+
+    /*string pathVelodyne(path + "sequences/" + example->name + "/velodyne/");
+    for (vector<string>::iterator it=example->velodyne.begin(); it!=example->velodyne.end(); ++it)
+    {
+        printf("%s\n", (pathVelodyne + (*it)).c_str());
+    }*/
+    printf("number of velodyne images: %u\n", (unsigned int)example->velodyne.size());
+
+    for (unsigned int i=0; i<=3; ++i)
+    {
+        /*char tmp[2];
+        sprintf(tmp, "%u", i);
+        // 0,1 - gray, 2,3 - color
+        string currPath(path + "sequences/" + example->name + "/image_" + tmp + "/");
+        for (vector<string>::iterator it=example->images[i].begin(); it!=example->images[i].end(); ++it)
+        {
+            printf("%s\n", (currPath + (*it)).c_str());
+        }*/
+        printf("number of images %u: %u\n", i, (unsigned int)example->images[i].size());
+    }
+
+    /*printf("times:\n");
+    for (vector<double>::iterator it=example->times.begin(); it!=example->times.end(); ++it)
+    {
+        printf("%f ", *it);
+    }
+    printf("\n");*/
+    printf("number of times: %u\n", (unsigned int)example->times.size());
+
+    /*printf("poses:\n");
+    for (vector<pose>::iterator it=example->posesArray.begin(); it!=example->posesArray.end(); ++it)
+    {
+        for (unsigned int i=0; i<12; ++i)
+        {
+            printf("%f ", (*it).elem[i]);
+        }
+        printf("\n");
+    }*/
+    printf("number of poses: %u\n", (unsigned int)example->posesArray.size());
+
+    for (unsigned int i=0; i<4; ++i)
+    {
+        printf("calibration %u:\n", i);
+        for (vector<double>::iterator it=example->p[i].begin(); it!=example->p[i].end(); ++it)
+        {
+            printf("%f ", *it);
+        }
+        printf("\n");
+    }
+
+    return 0;
+}