AnnotatedDatasetInfo getAnnotatedImageData(Mat Image, string datafile){
AnnotatedDatasetInfo info;
int rows = 240;
int cols = 320;
float depth = 50.00;
Mat_<signed short int> Labels(rows, cols, CV_16SC1);
vector< vector<Point> > Points(1);
Mat_<Vec3f> Depths(rows, cols, CV_32FC3);
// datafile is binary image that represent object mask
// 1 represent object, 0 means non object
ifstream ImgData(datafile.c_str());
int row = 0;
if (ImgData.is_open()){
while (ImgData.good()) {
string line;
getline(ImgData, line);
if(line.length() == 0) continue;
int col = 0;
for(unsigned int i = 0 ; i < line.length() ; i++){
char ch = line[i];
// add data into "Labels"
if(ch != ' '){
if(ch == '1') {
Labels(row, col) = 0;
// add Point (row, col) in points for class 2
Point p(col, row);
Points[0].push_back(p);
}
else {
Labels(row, col) = -3;
// add Point (row, col) in points for class 1
//Point p(col, row);
//Points[0].push_back(p);
}
// add depth into "Depths"
// Depths is a R X C X 3 matrix where each pixel has (X,Y,Z) location in world coords
Depths(row, col) = Vec3f(float(col), float(row), depth);
col++;
}
}
row++;
}
ImgData.close();
}
else cout << "Unable to open file";
info.Labels = Labels;
info.Points = Points;
info.Depths = Depths;
return info;
}
void Declarations() {
while(strchr("lctvpf", Look)) {
switch(Look) {
case 'l': Labels();
case 'c': Constants();
case 't': Types();
case 'v': Variables();
case 'p': DoProcedure();
case 'f': DoFunction();
}
}
}
void Declarations(){
int other = 0;
while(!other){
switch(Look){
case 'l' : Labels(); break;
case 'c' : Constants(); break;
case 't' : Types(); break;
case 'v' : Variables(); break;
case 'p' : DoProcedure(); break;
case 'f' : DoFunction(); break;
default : other = 1;
}
}
}
