| OpenCV 4.3.0 Open Source Computer Vision

Classes | Enumerations
SLAM
Framework for working with different datasets

## Classes
struct | cv::datasets::pose
class | cv::datasets::SLAM_kitti
struct | cv::datasets::SLAM_kittiObj
class | cv::datasets::SLAM_tumindoor
struct | cv::datasets::SLAM_tumindoorObj

## Enumerations
enum | cv::datasets::imageType { cv::datasets::LEFT = 0, cv::datasets::RIGHT, cv::datasets::LADYBUG }

## Detailed Description

### KITTI Vision Benchmark

Implements loading dataset:

"KITTI Vision Benchmark": http://www.cvlibs.net/datasets/kitti/eval_odometry.php

Usage:

1. From link above download "Odometry" dataset files: `data_odometry_gray\data_odometry_color\data_odometry_velodyne\data_odometry_poses\data_odometry_calib.zip`.
2. Unpack `data_odometry_poses.zip`, it creates folder `dataset/poses/`. After that unpack `data_odometry_gray.zip`, `data_odometry_color.zip`, `data_odometry_velodyne.zip`. Folder `dataset/sequences/` will be created with folders `00/..21/`. Each of these folders will contain: `image_0/`, `image_1/`, `image_2/`, `image_3/`, `velodyne/` and files `calib.txt` & `times.txt`. These two last files will be replaced after unpacking `data_odometry_calib.zip` at the end.
3. To load data run:
   ./opencv/build/bin/example_datasets_slam_kitti -p=/home/user/path_to_unpacked_folder/dataset/

### TUMindoor Dataset

Implements loading dataset:

"TUMindoor Dataset": http://www.navvis.lmt.ei.tum.de/dataset/

Usage:

1. From link above download dataset files: `dslr\info\ladybug\pointcloud.tar.bz2` for each dataset: `11-11-28 (1st floor)\11-12-13 (1st floor N1)\11-12-17a (4th floor)\11-12-17b (3rd floor)\11-12-17c (Ground I)\11-12-18a (Ground II)\11-12-18b (2nd floor)`
2. Unpack them in separate folder for each dataset. `dslr.tar.bz2 -> dslr/`, `info.tar.bz2 -> info/`, `ladybug.tar.bz2 -> ladybug/`, `pointcloud.tar.bz2 -> pointcloud/`.
3. To load each dataset run:
   ./opencv/build/bin/example_datasets_slam_tumindoor -p=/home/user/path_to_unpacked_folders/

## Enumeration Type Documentation

## ◆ imageType

enum cv::datasets::imageType

`#include <opencv2/datasets/slam_tumindoor.hpp>`

Enumerator
LEFT Python: cv.datasets.LEFT |
RIGHT Python: cv.datasets.RIGHT |
LADYBUG Python: cv.datasets.LADYBUG |