Loader.h

Go to the documentation of this file.

/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_EVAL_LOADER_H
#define OV_EVAL_LOADER_H

#include <fstream>
#include <iostream>
#include <string>

#include <Eigen/Eigen>
#include <boost/filesystem.hpp>

#include "utils/colors.h"
#include "utils/print.h"

namespace ov_eval {

class Loader {

public:
  static void load_data(std::string path_traj, std::vector<double> &times, std::vector<Eigen::Matrix<double, 7, 1>> &poses,
                        std::vector<Eigen::Matrix3d> &cov_ori, std::vector<Eigen::Matrix3d> &cov_pos);

  static void load_data_csv(std::string path_traj, std::vector<double> &times, std::vector<Eigen::Matrix<double, 7, 1>> &poses,
                            std::vector<Eigen::Matrix3d> &cov_ori, std::vector<Eigen::Matrix3d> &cov_pos);

  static void load_simulation(std::string path, std::vector<Eigen::VectorXd> &values);

  static void load_timing_flamegraph(std::string path, std::vector<std::string> &names, std::vector<double> &times,
                                     std::vector<Eigen::VectorXd> &timing_values);

  static void load_timing_percent(std::string path, std::vector<double> &times, std::vector<Eigen::Vector3d> &summed_values,
                                  std::vector<Eigen::VectorXd> &node_values);

  static double get_total_length(const std::vector<Eigen::Matrix<double, 7, 1>> &poses);

private:
  Loader() {}
};

} // namespace ov_eval

#endif // OV_EVAL_LOADER_H