28 lines
926 B
C
28 lines
926 B
C
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#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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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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#endif // LANDMARKUTILS_H
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