std::shared_ptr<VlslamDatasetLoader> loader;

try {

loader = std::make_shared<VlslamDatasetLoader>(argv[1]);

} catch (const std::exception &) {

std::cout << TermColor::red

<< "Usage: example_load DIRECTORY_OF_THE_DATASET" << TermColor::endl;

exit(-1);

}

for (int i = 0; i < loader->size(); ++i) {

cv::Mat img, edgemap; // image and edge map

vlslam_pb::BoundingBoxList bboxlist; // list of bounding boxes

SE3f gwc; // camera to world transformation

SO3f Rg; // rotation to align with gravity

loader->Grab(i, img, edgemap, bboxlist, gwc, Rg); // grab datum

std::cout << "g(world <- camera)=\n" << gwc.matrix3x4() << std::endl;

std::cout << "Rg=\n" << Rg.matrix() << std::endl;

// print bounding boxes

int j = 0;

for (const auto &bbox : bboxlist.bounding_boxes()) {

std::cout << "bbox #" << j++

<< "(" << bbox.top_left_x() << "," << bbox.top_left_y() << ")-"

<< "(" << bbox.bottom_right_x() << "," << bbox.bottom_right_y() << ")\n"

<< "class=" << bbox.class_name() << "\n"

<< "scores=";

// Scores can store a list of scores of all the classes.

// However, we only keep the score of the most likely class at index 0.

for (const auto &score : bbox.scores()) std::cout << score << " ";

std::cout << std::endl;

}

cv::imshow("image", img);

cv::imshow("edge map", edgemap);

char ckey = cv::waitKey(30);

if (ckey == 'q') break;

}