git update

src/ground_slam/include/dataset.h

@@ -0,0 +1,30 @@
+#ifndef DATASET_H_
+#define DATASET_H_
+
+#include <vector>
+#include <Eigen/Dense>
+#include <Eigen/SparseCore>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/opencv.hpp>
+
+#include "utils.h"
+
+
+class Dataset{
+public:
+  Dataset(const std::string& dataroot, const std::string& image_dir_name);
+  size_t GetDatasetLength();
+  bool GetImage(cv::Mat& image, size_t idx);
+  double GetTimestamp(size_t idx);
+
+private:
+  std::string _dataroot;
+  std::string _image_dir;
+  std::string _image_name_file_path;
+  std::vector<std::string> _image_names;
+  std::string _time_file_path;
+  std::vector<double> _timestamps;
+};
+
+#endif // DATASET_H_