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dataset.cpp
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dataset.cpp
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#include "dataset.h"
#include "opencv2/imgcodecs.hpp"
#include <fstream>
bool Dataset::getNext(DataElement& element)
{
get_succeeded_ = false;
if (hasNext())
{
element.img_num = curr_file_num_;
readImage(element);
readMetadata(element);
++curr_file_num_;
get_succeeded_ = true;
}
return get_succeeded_;
}
bool Dataset::hasNext() const
{
return curr_file_num_ <= last_file_num;
}
Dataset::operator bool() const
{
return get_succeeded_;
}
void Dataset::readImage(DataElement& element) const
{
std::stringstream filepath;
filepath << folder_name_ << "110608_Oslo_0" << curr_file_num_ << ".jpg";
element.image = cv::imread(filepath.str(), cv::IMREAD_UNCHANGED);
if (element.image.empty())
{
throw std::runtime_error("Could not open image file: " + filepath.str());
}
}
void Dataset::readMetadata(DataElement& element) const
{
std::stringstream filepath;
filepath << folder_name_ << "110608_Oslo_0" << curr_file_num_ << ".txt";
std::ifstream input_file{filepath.str()};
if (!input_file)
{
throw std::runtime_error("Could not open file");
}
input_file >> element.intrinsics
>> element.camera_position_in_body
>> element.camera_attitude_in_body
>> element.body_position_in_geo
>> element.body_attitude_in_geo;
}
Dataset& operator>>(Dataset& dataset, DataElement& element)
{
dataset.getNext(element);
return dataset;
}