v01

include/basalt/io/dataset_io.h

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions 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.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may 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 COPYRIGHT HOLDER 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.
+*/
+
+#pragma once
+
+#include <array>
+#include <fstream>
+#include <iomanip>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <cereal/archives/binary.hpp>
+#include <cereal/archives/json.hpp>
+#include <cereal/types/bitset.hpp>
+#include <cereal/types/deque.hpp>
+#include <cereal/types/map.hpp>
+#include <cereal/types/memory.hpp>
+#include <cereal/types/polymorphic.hpp>
+#include <cereal/types/set.hpp>
+#include <cereal/types/string.hpp>
+#include <cereal/types/unordered_map.hpp>
+#include <cereal/types/utility.hpp>
+#include <cereal/types/vector.hpp>
+
+#include <Eigen/Dense>
+#include <basalt/utils/sophus_utils.hpp>
+
+#include <basalt/image/image.h>
+#include <basalt/utils/assert.h>
+
+#include <basalt/camera/generic_camera.hpp>
+#include <basalt/camera/stereographic_param.hpp>
+
+#include <opencv2/highgui/highgui.hpp>
+
+namespace basalt {
+
+struct ImageData {
+  ImageData() : exposure(0) {}
+
+  ManagedImage<uint16_t>::Ptr img;
+  double exposure;
+};
+
+struct Observations {
+  Eigen::aligned_vector<Eigen::Vector2d> pos;
+  std::vector<int> id;
+};
+
+struct GyroData {
+  int64_t timestamp_ns;
+  Eigen::Vector3d data;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct AccelData {
+  int64_t timestamp_ns;
+  Eigen::Vector3d data;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct PoseData {
+  int64_t timestamp_ns;
+  Sophus::SE3d data;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct MocapPoseData {
+  int64_t timestamp_ns;
+  Sophus::SE3d data;
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct AprilgridCornersData {
+  int64_t timestamp_ns;
+  int cam_id;
+
+  Eigen::aligned_vector<Eigen::Vector2d> corner_pos;
+  std::vector<int> corner_id;
+};
+
+class VioDataset {
+ public:
+  virtual ~VioDataset(){};
+
+  virtual size_t get_num_cams() const = 0;
+
+  virtual std::vector<int64_t> &get_image_timestamps() = 0;
+
+  virtual const Eigen::aligned_vector<AccelData> &get_accel_data() const = 0;
+  virtual const Eigen::aligned_vector<GyroData> &get_gyro_data() const = 0;
+  virtual const std::vector<int64_t> &get_gt_timestamps() const = 0;
+  virtual const Eigen::aligned_vector<Sophus::SE3d> &get_gt_pose_data()
+      const = 0;
+  virtual int64_t get_mocap_to_imu_offset_ns() const = 0;
+  virtual std::vector<ImageData> get_image_data(int64_t t_ns) = 0;
+  virtual std::vector<cv::Mat> get_image_data_cv_mat(int64_t t_ns) = 0;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+typedef std::shared_ptr<VioDataset> VioDatasetPtr;
+
+class DatasetIoInterface {
+ public:
+  virtual void read(const std::string &path) = 0;
+  virtual void reset() = 0;
+  virtual VioDatasetPtr get_data() = 0;
+
+  virtual ~DatasetIoInterface(){};
+};
+
+typedef std::shared_ptr<DatasetIoInterface> DatasetIoInterfacePtr;
+
+class DatasetIoFactory {
+ public:
+  static DatasetIoInterfacePtr getDatasetIo(const std::string &dataset_type,
+                                            bool load_mocap_as_gt = false);
+};
+
+}  // namespace basalt
+
+namespace cereal {
+
+template <class Archive>
+void serialize(Archive &archive, basalt::ManagedImage<uint8_t> &m) {
+  archive(m.w);
+  archive(m.h);
+
+  m.Reinitialise(m.w, m.h);
+
+  archive(binary_data(m.ptr, m.size()));
+}
+
+template <class Archive>
+void serialize(Archive &ar, basalt::GyroData &c) {
+  ar(c.timestamp_ns, c.data);
+}
+
+template <class Archive>
+void serialize(Archive &ar, basalt::AccelData &c) {
+  ar(c.timestamp_ns, c.data);
+}
+
+}  // namespace cereal