dataset.h

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#pragma once
#include "camera.h"
#include "common_include.h"
#include "config.h"
#include "map.h"
 
NAMESPACE_BEGIN
 
class Dataset {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef std::shared_ptr<Dataset> Ptr;
 
    Dataset(const Dataset &other) = delete;
 
    Dataset &operator=(const Dataset &other) = delete;
 
    virtual Frame::Ptr createFrame() = 0;
 
    virtual Camera::Ptr createCamera() = 0;
 
    virtual ~Dataset() {}
 
protected:
    Dataset() = default;
};
 
class KITTISet : public Dataset {
public:
    static Ptr getInstance() {
        static Ptr dataset(new KITTISet);
        return dataset;
    }
 
    Frame::Ptr createFrame() override;
 
    Camera::Ptr createCamera() override;
 
private:
    KITTISet() = default;
    std::size_t m_frameNum = 0; 
};
 
NAMESPACE_END