2010-10-26 23:01:34 +08:00
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Feature2D.cpp
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* @brief
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2010-10-27 05:12:44 +08:00
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* @author Duy-Nguyen Ta
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2010-10-26 23:01:34 +08:00
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*/
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#pragma once
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2010-10-22 06:51:20 +08:00
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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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std::map<int, gtsam::Point3> readLandMarks(const std::string& landmarkFile);
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gtsam::Pose3 readPose(const char* poseFn);
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std::map<int, gtsam::Pose3> readPoses(const std::string& baseFolder, const std::string& posesFN);
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std::vector<gtsam::Pose3> readPosesISAM(const std::string& baseFolder, const std::string& posesFN);
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gtsam::shared_ptrK readCalibData(const std::string& calibFn);
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std::vector<Feature2D> readFeatureFile(const char* filename);
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std::vector<Feature2D> readAllMeasurements(const std::string& baseFolder, const std::string& measurementsFn);
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std::vector< std::vector<Feature2D> > readAllMeasurementsISAM(const std::string& baseFolder, const std::string& measurementsFn);
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