58 lines
2.2 KiB
C++
58 lines
2.2 KiB
C++
/**
|
|
BSD 3-Clause License
|
|
|
|
This file is part of the Basalt project.
|
|
https://gitlab.com/VladyslavUsenko/basalt.git
|
|
|
|
Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
|
|
* Redistributions of source code must retain the above copyright notice, this
|
|
list of conditions and the following disclaimer.
|
|
|
|
* Redistributions in binary form must reproduce the above copyright notice,
|
|
this list of conditions and the following disclaimer in the documentation
|
|
and/or other materials provided with the distribution.
|
|
|
|
* Neither the name of the copyright holder nor the names of its
|
|
contributors may be used to endorse or promote products derived from
|
|
this software without specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
|
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
|
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
|
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
|
|
#include <basalt/io/dataset_io.h>
|
|
#include <basalt/io/dataset_io_euroc.h>
|
|
#include <basalt/io/dataset_io_rosbag.h>
|
|
|
|
namespace basalt {
|
|
|
|
DatasetIoInterfacePtr DatasetIoFactory::getDatasetIo(
|
|
const std::string &dataset_type, bool with_images) {
|
|
if (dataset_type == "euroc") {
|
|
// return DatasetIoInterfacePtr();
|
|
return DatasetIoInterfacePtr(new EurocIO);
|
|
} else if (dataset_type == "bag") {
|
|
return DatasetIoInterfacePtr(new RosbagIO(with_images));
|
|
} else {
|
|
std::cerr << "Dataset type " << dataset_type << " is not supported"
|
|
<< std::endl;
|
|
std::abort();
|
|
}
|
|
}
|
|
|
|
} // namespace basalt
|