reader_interiornet.hpp

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/*
 * SPDX-FileCopyrightText: 2020-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2020-2022 Nils Funk
 * SPDX-FileCopyrightText: 2020-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_READER_INTERIORNET_HPP
#define SE_READER_INTERIORNET_HPP
 
#include <opencv2/core/mat.hpp>
 
#include "reader_base.hpp"
 
namespace se {
 
class InteriorNetReader : public Reader {
    public:
    InteriorNetReader(const Config& c);
 
    void restart();
 
 
    std::string name() const;
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    static constexpr float interiornet_inverse_scale_ = 1.0f / 1000.0f;
    const float inverse_scale_;
 
    cv::Mat projection_inv_;
 
    std::vector<std::string> depth_filenames_;
 
    std::vector<std::string> rgb_filenames_;
 
    ReaderStatus nextDepth(Image<float>& depth_image);
 
    ReaderStatus nextColour(Image<RGB>& colour_image);
};
 
 
 
} // namespace se
 
 
 
#endif //SE_READER_INTERIORNET_HPP