Adding global_calibration for finding the relative position of the camera inside the robot.
Change-Id: I98a9fb4544f17969c47b519114fb8ecf8e412329
diff --git a/aos/vision/image/image_dataset.cc b/aos/vision/image/image_dataset.cc
index cd3ec46..d4dde95 100644
--- a/aos/vision/image/image_dataset.cc
+++ b/aos/vision/image/image_dataset.cc
@@ -45,6 +45,15 @@
}
} // namespace
+DatasetFrame LoadFile(const std::string &jpeg_filename) {
+ bool is_jpeg = true;
+ size_t l = jpeg_filename.size();
+ if (l > 4 && jpeg_filename[l - 1] == 'v') {
+ is_jpeg = false;
+ }
+ return DatasetFrame{is_jpeg, GetFileContents(jpeg_filename)};
+}
+
std::vector<DatasetFrame> LoadDataset(const std::string &jpeg_list_filename) {
std::vector<DatasetFrame> images;
auto contents = GetFileContents(jpeg_list_filename);
@@ -62,17 +71,10 @@
if (jpeg_filename[i] == '#') return;
if (jpeg_filename[i] != ' ') break;
}
- bool is_jpeg = true;
- size_t l = jpeg_filename.size();
- if (l > 4 && jpeg_filename[l - 1] == 'v') {
- is_jpeg = false;
- }
if (jpeg_filename[0] == '/') {
- images.emplace_back(
- DatasetFrame{is_jpeg, GetFileContents(jpeg_filename)});
+ images.emplace_back(LoadFile(jpeg_filename));
} else {
- images.emplace_back(
- DatasetFrame{is_jpeg, GetFileContents(basename + jpeg_filename)});
+ images.emplace_back(LoadFile(basename + jpeg_filename));
}
}();
}