SLAM

Detailed Description

KITTI Vision Benchmark

Implements loading dataset:

"KITTI Vision Benchmark": http://www.cvlibs.net/datasets/kitti/eval_odometry.php

Usage:

1. From link above download "Odometry" dataset files: data_odometry_gray\data_odometry_color\data_odometry_velodyne\data_odometry_poses\data_odometry_calib.zip.
2. Unpack data_odometry_poses.zip, it creates folder dataset/poses/. After that unpack data_odometry_gray.zip, data_odometry_color.zip, data_odometry_velodyne.zip. Folder dataset/sequences/ will be created with folders 00/..21/. Each of these folders will contain: image_0/, image_1/, image_2/, image_3/, velodyne/ and files calib.txt & times.txt. These two last files will be replaced after unpacking data_odometry_calib.zip at the end.
3. To load data run:

   ./opencv/build/bin/example_datasets_slam_kitti -p=/home/user/path_to_unpacked_folder/dataset/

TUMindoor Dataset

Implements loading dataset:

"TUMindoor Dataset": http://www.navvis.lmt.ei.tum.de/dataset/

Usage:

1. From link above download dataset files: dslr\info\ladybug\pointcloud.tar.bz2 for each dataset: 11-11-28 (1st floor)\11-12-13 (1st floor N1)\11-12-17a (4th floor)\11-12-17b (3rd floor)\11-12-17c (Ground I)\11-12-18a (Ground II)\11-12-18b (2nd floor)
2. Unpack them in separate folder for each dataset. dslr.tar.bz2 -> dslr/, info.tar.bz2 -> info/, ladybug.tar.bz2 -> ladybug/, pointcloud.tar.bz2 -> pointcloud/.
3. To load each dataset run:

   ./opencv/build/bin/example_datasets_slam_tumindoor -p=/home/user/path_to_unpacked_folders/

Classes
struct	cv::datasets::pose
class	cv::datasets::SLAM_kitti
struct	cv::datasets::SLAM_kittiObj
class	cv::datasets::SLAM_tumindoor
struct	cv::datasets::SLAM_tumindoorObj

Enumerations
enum	cv::datasets::imageType {   cv::datasets::LEFT = 0 ,   cv::datasets::RIGHT ,   cv::datasets::LADYBUG }

Enumeration Type Documentation

imageType

enum cv::datasets::imageType

#include <opencv2/datasets/slam_tumindoor.hpp>

Enumerator
LEFT  Python: cv.datasets.LEFT
RIGHT  Python: cv.datasets.RIGHT
LADYBUG  Python: cv.datasets.LADYBUG