MVP for database querying works. The test needs some work though.

WORKSPACE

@@ -432,9 +432,9 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 http_archive(
     name = "symphony_lake_parser",
-    urls = ["https://github.com/cedricpradalier/SymphonyLakeDataset/archive/5366560263b660b0151844a297effa517480991a.zip"],
-    strip_prefix = "SymphonyLakeDataset-5366560263b660b0151844a297effa517480991a",
+    urls = ["https://github.com/pizzaroll04/SymphonyLakeDataset/archive/4b38c2519270a43f76858e6c97c1f1de1735e5d0.zip"],
+    strip_prefix = "SymphonyLakeDataset-4b38c2519270a43f76858e6c97c1f1de1735e5d0",
     build_file = "//third_party:BUILD.symphony_lake_parser",
-    sha256 = "ab80544a4a7d8554e92c49e9b43e5bdbce0d84654798262c36134cd1224070be",
+    sha256 = "d203e486507c7950ae9a346406fe2c42f8b2d204e8d25ba07a47c834f4ae8ede",
 )
 

experimental/learn_descriptors/symphony_lake_parser.cc

@@ -2,6 +2,11 @@
 
 #include <iostream>
 
-namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
+namespace robot::experimental::learn_descriptors::symphony_lake_parser {
 void hello_world(const std::string &msg) { std::cout << msg << std::endl; }
-}  // namespace robot::experimental::learn_descriptors::symphony_lake_dataset
+DataParser::DataParser(const std::string &image_root_dir,
+                       const std::vector<std::string> &survey_list) {
+    _surveys.load(image_root_dir, survey_list);
+}
+DataParser::~DataParser() {}
+}  // namespace robot::experimental::learn_descriptors::symphony_lake_parser

experimental/learn_descriptors/symphony_lake_parser.hh

@@ -4,6 +4,16 @@
 
 #include "symphony_lake_dataset/SurveyVector.h"
 
-namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
+namespace robot::experimental::learn_descriptors::symphony_lake_parser {
 void hello_world(const std::string &msg);
-}
+class DataParser {
+   public:
+    DataParser(const std::string &image_root_dir, const std::vector<std::string> &survey_list);
+    ~DataParser();
+
+    const symphony_lake_dataset::SurveyVector &getSurveys() const { return _surveys; };
+
+   private:
+    symphony_lake_dataset::SurveyVector _surveys;
+};
+}  // namespace robot::experimental::learn_descriptors::symphony_lake_parser

experimental/learn_descriptors/symphony_lake_parser_test.cc

@@ -1,7 +1,56 @@
 #include "experimental/learn_descriptors/symphony_lake_parser.hh"
 
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
 #include "gtest/gtest.h"
+#include "opencv2/opencv.hpp"
+
+namespace robot::experimental::learn_descriptors::symphony_lake_parser {
+TEST(SymphonyLakeParserTest, hello_world) {
+    hello_world("hello from symphony lake dataset. includes working well.");
+}
+
+TEST(SymphonyLakeParserTest, database_query) {
+    std::string image_root_dir = "/home/pizzaroll04/Documents/datasets/symphony_lake_full";
+    std::string surveys = "140106";
+    std::vector<std::string> survey_list;
+    std::cout << "\nEnter root image directory: ";
+    // std::cin >> image_root_dir;
+    std::cout << "\nEnter surveys separated by spaces: ";
+    // std::getline(std::cin, surveys);
+
+    std::string token;
+    std::stringstream ss(surveys);
+    while (std::getline(ss, token, ' ')) {
+        survey_list.push_back(token);
+    }
+
+    DataParser data_parser = DataParser(image_root_dir, survey_list);
+
+    const symphony_lake_dataset::SurveyVector &survey_vector = data_parser.getSurveys();
 
-namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
-TEST(SymphonyLakeParserTest, hello_world) { hello_world("womp womp"); }
-}  // namespace robot::experimental::learn_descriptors::symphony_lake_dataset
+    cv::Mat image;
+    cv::namedWindow("Symphony Dataset Image", cv::WINDOW_AUTOSIZE);
+    printf("Press 'q' in graphic window to quit\n");
+    for (int i = 0; i < static_cast<int>(survey_vector.getNumSurveys()); i++) {
+        const symphony_lake_dataset::Survey &survey = survey_vector.get(i);
+        for (int j = 0; j < static_cast<int>(survey.getNumImages()); j++) {
+            int key = cv::waitKey(1) & 0xFF;
+            switch (key) {
+                case 'q':
+                case 'Q':
+                case 0x27:
+                    return;
+                    break;
+                default:
+                    break;
+            }
+            image = survey.loadImageByImageIndex(j);
+            cv::imshow("Symphony Dataset Image", image);
+        }
+    }
+}
+}  // namespace robot::experimental::learn_descriptors::symphony_lake_parser