feat(slam): add cartographer_ros

cartographer/cartographer/ground_truth/relations_text_file.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_
+#define CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_
+
+#include <string>
+
+#include "cartographer/common/port.h"
+#include "cartographer/ground_truth/proto/relations.pb.h"
+
+namespace cartographer {
+namespace ground_truth {
+
+// Reads a text file and converts it to a GroundTruth proto. Each line contains:
+// time1 time2 x y z roll pitch yaw
+// using Unix epoch timestamps.
+//
+// This is the format used in the relations files provided for:
+// R. Kuemmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss,
+// and A. Kleiner, "On measuring the accuracy of SLAM algorithms," Autonomous
+// Robots, vol. 27, no. 4, pp. 387–407, 2009.
+proto::GroundTruth ReadRelationsTextFile(const std::string& relations_filename);
+
+}  // namespace ground_truth
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_GROUND_TRUTH_RELATIONS_TEXT_FILE_H_