24 lines
664 B
C++
24 lines
664 B
C++
#ifndef LANDMARKUTILS_H
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#define LANDMARKUTILS_H
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#include <map>
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#include <vector>
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#include "Feature2D.h"
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#include "gtsam/geometry/Pose3.h"
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#include "gtsam/geometry/Point3.h"
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#include "gtsam/geometry/Cal3_S2.h"
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bool readLandMarks(const char* landmarkFile, std::map<int, gtsam::Point3>& landmarks);
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gtsam::Pose3 readPose(const char* poseFn);
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gtsam::Pose3 readPose(const char* poseFn_pre, const char* poseFn_suf, int poseId);
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gtsam::Cal3_S2 readCalibData(const char* calibFn);
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std::vector<Feature2D> readFeatures(const char* filename);
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std::vector<Feature2D> readFeatures(const char* featFn_pre, const char* featFn_suf, int imageId);
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#endif // LANDMARKUTILS_H
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