63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef DATASET_IMG_H
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#define DATASET_IMG_H
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namespace FileType {
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#include <string>
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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using ::Eigen::Quaterniond;
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using ::Eigen::Vector3d;
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/// Specification of Dataset which contains: Camera Image, Gyroscope Rotation
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class DatasetImg
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{
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public:
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DatasetImg() {}
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virtual ~DatasetImg() {}
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double timestamp_;
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std::string image_name_;
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friend std::ostream& operator <<(std::ostream& out, const DatasetImg& pair);
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friend std::istream& operator >>(std::istream& in, DatasetImg& pair);
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};
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std::ostream& operator <<(std::ostream& out, const DatasetImg& gt)
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{
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out
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<< gt.timestamp_ << " "
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<< gt.image_name_ << " "
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<< std::endl;
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return out;
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}
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std::istream& operator >>(std::istream& in, DatasetImg& gt)
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{
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in >> gt.timestamp_;
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in >> gt.image_name_;
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return in;
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}
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} // end namespace FileType
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#endif /* DATASET_IMG_H */
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