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Merge pull request #506 from borglab/feature/bal-utils 

New readBal function
release/4.3a0
Varun Agrawal 2020-09-06 14:52:03 -04:00 committed by GitHub
parent 915702116f f533729d3e
commit 0c19e80494
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2 changed files with 15 additions and 0 deletions
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7
gtsam/slam/dataset.cpp
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@ -1129,6 +1129,13 @@ bool readBAL(const string &filename, SfmData &data) {
return true;
}
/* ************************************************************************* */
SfmData readBal(const string &filename) {
SfmData data;
readBAL(filename, data);
return data;
}
/* ************************************************************************* */
bool writeBAL(const string &filename, SfmData &data) {
// Open the output file

8
gtsam/slam/dataset.h
View File

@ -277,6 +277,14 @@ GTSAM_EXPORT bool readBundler(const std::string& filename, SfmData &data);
*/
GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data);
/**
* @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data
* as a SfmData structure. Mainly used by wrapped code.
* @param filename The name of the BAL file.
* @return SfM structure where the data is stored.
*/
GTSAM_EXPORT SfmData readBal(const std::string& filename);
/**
* @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
* SfmData structure