42 lines
1.5 KiB
C
42 lines
1.5 KiB
C
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_
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#define CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_
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#include <string>
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#include "cartographer/common/port.h"
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#include "cartographer/ground_truth/proto/relations.pb.h"
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namespace cartographer {
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namespace ground_truth {
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// Reads a text file and converts it to a GroundTruth proto. Each line contains:
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// time1 time2 x y z roll pitch yaw
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// using Unix epoch timestamps.
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//
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// This is the format used in the relations files provided for:
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// R. Kuemmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss,
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// and A. Kleiner, "On measuring the accuracy of SLAM algorithms," Autonomous
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// Robots, vol. 27, no. 4, pp. 387–407, 2009.
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proto::GroundTruth ReadRelationsTextFile(const std::string& relations_filename);
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} // namespace ground_truth
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} // namespace cartographer
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#endif // CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_
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