00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_ 00018 #define CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_ 00019 00020 #include <string> 00021 00022 #include "cartographer/common/port.h" 00023 #include "cartographer/ground_truth/proto/relations.pb.h" 00024 00025 namespace cartographer { 00026 namespace ground_truth { 00027 00028 // Reads a text file and converts it to a GroundTruth proto. Each line contains: 00029 // time1 time2 x y z roll pitch yaw 00030 // using Unix epoch timestamps. 00031 // 00032 // This is the format used in the relations files provided for: 00033 // R. Kuemmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss, 00034 // and A. Kleiner, "On measuring the accuracy of SLAM algorithms," Autonomous 00035 // Robots, vol. 27, no. 4, pp. 387–407, 2009. 00036 proto::GroundTruth ReadRelationsTextFile(const std::string& relations_filename); 00037 00038 } // namespace ground_truth 00039 } // namespace cartographer 00040 00041 #endif // CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_