| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2016 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // Author: vitus@google.com (Michael Vitus) |
| // |
| // Reads a 2D pose graph problem formulation in g2o format. |
| |
| #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_READ_G2O_H_ |
| #define CERES_EXAMPLES_POSE_GRAPH_2D_READ_G2O_H_ |
| |
| #include <string> |
| #include <map> |
| #include <vector> |
| |
| #include "types.h" |
| |
| namespace ceres { |
| namespace examples { |
| |
| // Reads a file in the g2o filename format that describes a 2D pose graph |
| // problem. The g2o format consists of two entries, vertices and constraints. A |
| // vertex is defined as follows: |
| // |
| // VERTEX_SE2 ID x_meters y_meters yaw_radians |
| // |
| // A constraint is defined as follows: |
| // |
| // EDGE_SE2 ID_A ID_B A_x_B A_y_B A_yaw_B I_11 I_12 I_13 I_22 I_23 I_33 |
| // |
| // where I_ij is the (i, j)-th entry of the information matrix for the |
| // measurement. |
| bool ReadG2oFile(const std::string& filename, |
| std::map<int, Pose2d>* poses, |
| std::vector<Constraint2d>* constraints); |
| |
| } // namespace examples |
| } // namespace ceres |
| |
| #endif // CERES_EXAMPLES_POSE_GRAPH_2D_READ_G2O_H_ |
