37 lines
1.2 KiB
C++
37 lines
1.2 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file Feature2D.cpp
|
|
* @brief
|
|
* @author Duy-Nguyen Ta
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "Feature2D.h"
|
|
#include "gtsam/geometry/Pose3.h"
|
|
#include "gtsam/geometry/Point3.h"
|
|
#include "gtsam/geometry/Cal3_S2.h"
|
|
#include <vector>
|
|
#include <map>
|
|
|
|
std::map<int, gtsam::Point3> readLandMarks(const std::string& landmarkFile);
|
|
|
|
gtsam::Pose3 readPose(const char* poseFn);
|
|
std::map<int, gtsam::Pose3> readPoses(const std::string& baseFolder, const std::string& posesFN);
|
|
|
|
gtsam::shared_ptrK readCalibData(const std::string& calibFn);
|
|
|
|
std::vector<Feature2D> readFeatureFile(const char* filename);
|
|
std::vector<Feature2D> readAllMeasurements(const std::string& baseFolder, const std::string& measurementsFn);
|
|
std::map<int, std::vector<Feature2D> > readAllMeasurementsISAM(const std::string& baseFolder, const std::string& measurementsFn);
|