initial commit

.gitignore

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+bin
+build
+lib
+*.*user
+*.*~

C++/driveu_dataset/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(driveu_dataset)
+
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../bin)
+
+find_package(OpenCV 2.4)
+IF(OpenCV_FOUND)
+  message("ocv found")
+  add_definitions("-DOpenCV_FOUND")
+ENDIF()
+SET(CMAKE_CXX_FLAGS "-std=c++0x")
+add_definitions ("-Wall")
+
+INCLUDE_DIRECTORIES(include)
+
+# lib
+SET(SOURCES   src/driveu_dataset.cpp src/driveu_test.cpp src/compand.cpp)
+SET(HEADERS   include/driveu_dataset.h include/compand.h)
+
+ADD_EXECUTABLE(driveu_test ${HEADERS} ${SOURCES})
+add_library(driveu_dataset SHARED ${HEADERS} ${SOURCES})
+target_link_libraries(driveu_dataset ${OpenCV_LIBS})
+target_link_libraries(driveu_test ${OpenCV_LIBS})
+
+install (TARGETS driveu_dataset ARCHIVE DESTINATION lib LIBRARY DESTINATION lib)
+install (FILES ${HEADERS} DESTINATION "include/driveu_dataset")
+INSTALL(TARGETS driveu_test RUNTIME DESTINATION bin)

C++/driveu_dataset/include/compand.h

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+#ifndef COMPAND_H_
+#define COMPAND_H_
+
+// 2015-07-04 A.Fregin
+
+#include <vector>
+#include <string>
+#include <map>
+#include <iostream>
+#include <fstream>
+#include <cmath>
+
+
+class Compand {
+public:
+    Compand(const std::map<int,std::vector<int> > &kneepoints, bool verbose=false);
+    virtual ~Compand();
+
+    void processPixel(const ushort &src, ushort &dst);
+    bool saveLut(const std::string &file);
+    bool loadLut(const std::string &file);
+
+private:
+    std::vector<int> compandLUT;
+
+};
+
+
+class Decompand {
+public:
+    Decompand();
+    Decompand(const std::map<int,std::vector<int> > &kneepoints);
+    Decompand(const std::string &file);
+
+    virtual ~Decompand();
+
+    void processPixel(const ushort &src, ushort &dst);
+    void processPixel(const ushort &src, unsigned char &dst);
+    bool saveLut(const std::string &file);
+    bool loadKneepoints(const std::string &file, std::map<int, std::vector<int> > &kneepoints);
+
+private:
+    void lutFromKneepoints(const std::map<int,std::vector<int> > &kneepoints);
+    std::vector<int> decompandLUT;
+
+};
+
+#endif // COMPAND_H_

C++/driveu_dataset/include/driveu_dataset.h

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+#include <iostream>
+#include <fstream>
+#include <string>
+#include <sstream>
+#include <vector>
+#include "compand.h"
+
+
+#ifdef OpenCV_FOUND
+#include <opencv2/opencv.hpp>
+#endif
+
+
+
+class DriveuObject {
+
+public:
+
+    DriveuObject();
+    ~DriveuObject();
+
+    int x_;
+    int y_;
+    int width_;
+    int height_;
+    int class_id_;
+    int unique_id_;
+    std::string track_id_;
+
+    #ifdef OpenCV_FOUND
+      cv::Rect getRect();
+      cv::Scalar colorFromClassId();
+    #endif
+
+};
+
+class VehicleData {
+
+public:
+
+    VehicleData();
+    ~VehicleData();
+
+    double velocity_;
+    double yaw_rate_;
+    double longitude_;
+    double latitude_;
+};
+
+
+class IntrinsicCalibration {
+
+public:
+
+    float fx_;
+    float fy_;
+    float cx_;
+    float cy_;
+
+    #ifdef OpenCV_FOUND
+        cv::Mat cv_intrinsic_matrix_;
+    #endif
+
+    std::vector<std::vector<float> > intrinsic_matrix_;
+
+};
+
+class DistortionCalibration {
+
+public:
+
+    float k1_;
+    float k2_;
+    float k3_;
+    float p1_;
+    float p2_;
+
+    #ifdef OpenCV_FOUND
+        cv::Mat cv_distortion_matrix_;
+    #endif
+
+    std::vector<std::vector<float> > distortion_matrix_;
+
+
+};
+
+class ProjectionMatrix {
+
+public:
+
+    float fx_;
+    float fy_;
+    float cx_;
+    float cy_;
+    float tx_;
+    float ty_;
+    float baseline_;
+
+    #ifdef OpenCV_FOUND
+        cv::Mat cv_projection_matrix_;
+    #endif
+
+    std::vector<std::vector<float> > projection_matrix_;
+
+};
+
+class RectificationMatrix {
+
+public:
+
+    float r_11_;
+    float r_12_;
+    float r_13_;
+    float r_21_;
+    float r_22_;
+    float r_23_;
+    float r_31_;
+    float r_32_;
+    float r_33_;
+
+    #ifdef OpenCV_FOUND
+        cv::Mat cv_rectification_matrix_;
+    #endif
+
+    std::vector<std::vector<float> > rectification_matrix_;
+
+
+};
+
+class ExtrinsicMatrix {
+
+public:
+
+    float r_11_;
+    float r_12_;
+    float r_13_;
+    float r_21_;
+    float r_22_;
+    float r_23_;
+    float r_31_;
+    float r_32_;
+    float r_33_;
+
+    float tx_;
+    float ty_;
+    float tz_;
+
+    #ifdef OpenCV_FOUND
+        cv::Mat cv_extrinsic_matrix_;
+    #endif
+
+    std::vector<std::vector<float> > extrinsic_matrix_;
+
+};
+
+class CalibrationData {
+
+public:
+
+    CalibrationData();
+    ~CalibrationData();
+
+    IntrinsicCalibration intrinsic_matrix;
+    DistortionCalibration distortion_matrix;
+    ProjectionMatrix projection_matrix;
+    RectificationMatrix rectification_matrix;
+    ExtrinsicMatrix extrinsic_matrix;
+
+
+    bool loadIntrinsicMatrix(const std::string &path);
+    bool loadProjectionMatrix(const std::string &path);
+    bool loadDistortionMatrix(const std::string &path);
+    bool loadRectificationMatrix(const std::string &path);
+    bool loadExtrinsicMatrix(const std::string &path);
+
+    #ifdef OpenCV_FOUND
+        cv::Mat getCvIntrinsicMatrix();
+        cv::Mat getCvExtrinsicMatrix();
+        cv::Mat getCvProjectionMatrix();
+        cv::Mat getCvDistortionMatrix();
+        cv::Mat getCvRectificationMatrix();
+    #endif
+
+    std::vector<std::vector<float> > getIntrinsicMatrix();
+    std::vector<std::vector<float> > getExtrinsicMatrix();
+    std::vector<std::vector<float> > getProjectionMatrix();
+    std::vector<std::vector<float> > getDistortionMatrix();
+    std::vector<std::vector<float> > getRectificationMatrix();
+
+private:
+
+    bool loadYmlMatrix(const std::string &path, int &rows, int &cols, std::vector<float> &data_vec);
+    #ifdef OpenCV_FOUND
+        bool fillCvMat(cv::Mat &mat, std::vector<float> &vec, const int &rows, const int &cols);
+    #endif
+    bool fillMat(std::vector<std::vector<float> > &mat, std::vector<float> &vec, const int &rows, const int &cols);
+
+};
+
+class DriveuImage {
+
+public:
+
+    DriveuImage();
+    ~DriveuImage();
+
+    std::string file_path_;
+    std::string disp_file_path_;
+
+    double timestamp_;
+    VehicleData vehicle_data;
+
+    std::vector<DriveuObject> objects;
+
+    Decompand* decomp_;
+
+
+    #ifdef OpenCV_FOUND
+        bool getImage(cv::Mat &imageMat);
+        cv::Mat getImage16Bit();
+        bool getDisparityImage(cv::Mat &dispMat);
+        bool getLabeledImage(cv::Mat &imageMat);
+        void visualizeDisparityImage(cv::Mat &dispMat);
+        std::vector<cv::Rect> mapLabelsToDisparityImage(CalibrationData &calib);
+    #endif
+};
+
+class DriveuDatabase {
+
+public:
+
+    DriveuDatabase();
+    ~DriveuDatabase();
+
+    std::vector<DriveuImage> images;
+    bool open(const std::string &path);
+
+};
+
+
+
+