harmonic_cpp is a simple C++ library for accessing the HARMONIC dataset (http://harp.ri.cmu.edu/harmonic). It currently includes the following features:
- Iterating through the dataset and accessing particular runs based on desired filter criteria (in
accessors.hpp) - Loading in robot position information, including linear interpolation for unloaded times (
robot_position.hpp) - Loading timestamped videos and iterating through them (using OpenCV for video reading and cnpy to read the timestamps) (
timed_video.hpp) - Loading morsel YAML files (
morsel_info.hpp)
The package has been tested on Ubuntu 14.04 and 16.04 as well as MacOS Sierra.
harmonic_cpp relies on the following packages:
- Boost (filesystem, regex)
- OpenCV (>=2.4)
- yaml-cpp
We use the package https://github.com/rogersce/cnpy for accessing NumPy files. If not found, it is installed and built.
First install the relevant dependencies
sudo apt-get install libyaml-cpp-dev libboost-program-options-dev libboost-regex-dev libopencv-dev
brew install boost opencv yaml-cpp
Now install the package itself
git clone [email protected]:HARPLab/harmonic_cpp.git
cd harmonic_cpp
git submodule init
mkdir build && cd build
cmake ..
make
The package includes support for CMake find_package. To include harmonic_cpp in your project, you can use CMake:
find_package(harmonic_cpp REQUIRED)
include_directories(${harmonic_cpp_INCLUDES})
target_link_library(my_target ${harmonic_cpp_LIBRARIES})
If you run into problems or have additional needs, please create an issue!