| 80 | } |
| 81 | |
| 82 | std::vector<euroc_sequence::frame> euroc_sequence::get_frames() const |
| 83 | { |
| 84 | std::vector<frame> frames; |
| 85 | assert(timestamps_.size() == left_img_file_paths_.size()); |
| 86 | assert(timestamps_.size() == right_img_file_paths_.size()); |
| 87 | assert(left_img_file_paths_.size() == right_img_file_paths_.size()); |
| 88 | |
| 89 | // FW: |
| 90 | assert(timestamps_.size() == _mask_img_file_paths.size()); |
| 91 | |
| 92 | for (unsigned int i = 0; i < timestamps_.size(); ++i) |
| 93 | { |
| 94 | frames.emplace_back(frame{left_img_file_paths_.at(i), right_img_file_paths_.at(i), timestamps_.at(i), _mask_img_file_paths.at(i)}); |
| 95 | } |
| 96 | return frames; |
| 97 | } |