gtsam 4.2.0
gtsam
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utility functions for loading datasets More...
Go to the source code of this file.
Namespaces | |
namespace | gtsam |
Global functions in a separate testing namespace. | |
Typedefs | |
typedef std::pair< size_t, Pose2 > | gtsam::IndexedPose |
Return type for auxiliary functions. | |
typedef std::pair< size_t, Point2 > | gtsam::IndexedLandmark |
typedef std::pair< std::pair< size_t, size_t >, Pose2 > | gtsam::IndexedEdge |
using | gtsam::GraphAndValues = std::pair< NonlinearFactorGraph::shared_ptr, Values::shared_ptr > |
Return type for load functions, which return a graph and initial values. More... | |
using | gtsam::BetweenFactorPose2s = std::vector< BetweenFactor< Pose2 >::shared_ptr > |
using | gtsam::BetweenFactorPose3s = std::vector< BetweenFactor< Pose3 >::shared_ptr > |
using | gtsam::BinaryMeasurementsUnit3 = std::vector< BinaryMeasurement< Unit3 > > |
using | gtsam::BinaryMeasurementsPoint3 = std::vector< BinaryMeasurement< Point3 > > |
using | gtsam::BinaryMeasurementsRot3 = std::vector< BinaryMeasurement< Rot3 > > |
Enumerations | |
enum | gtsam::NoiseFormat { gtsam::NoiseFormatG2O , gtsam::NoiseFormatTORO , gtsam::NoiseFormatGRAPH , gtsam::NoiseFormatCOV , gtsam::NoiseFormatAUTO } |
Indicates how noise parameters are stored in file. More... | |
enum | gtsam::KernelFunctionType { KernelFunctionTypeNONE , KernelFunctionTypeHUBER , KernelFunctionTypeTUKEY } |
Robust kernel type to wrap around quadratic noise model. | |
Functions | |
string | gtsam::findExampleDataFile (const std::string &name) |
Find the full path to an example dataset distributed with gtsam. More... | |
string | gtsam::createRewrittenFileName (const std::string &name) |
Creates a temporary file name that needs to be ignored in .gitingnore for checking read-write oprations. | |
template<typename T > | |
GTSAM_EXPORT std::map< size_t, T > | gtsam::parseVariables (const std::string &filename, size_t maxIndex=0) |
Parse variables in a line-based text format (like g2o) into a map. More... | |
template<typename T > | |
GTSAM_EXPORT std::vector< BinaryMeasurement< T > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0) |
Parse binary measurements in a line-based text format (like g2o) into a vector. More... | |
template<typename T > | |
GTSAM_EXPORT std::vector< typename BetweenFactor< T >::shared_ptr > | gtsam::parseFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0) |
Parse BetweenFactors in a line-based text format (like g2o) into a vector of shared pointers. More... | |
boost::optional< IndexedPose > | gtsam::parseVertexPose (std::istream &is, const std::string &tag) |
Parse TORO/G2O vertex "id x y yaw". More... | |
boost::optional< IndexedLandmark > | gtsam::parseVertexLandmark (std::istream &is, const std::string &tag) |
Parse G2O landmark vertex "id x y". More... | |
boost::optional< IndexedEdge > | gtsam::parseEdge (std::istream &is, const std::string &tag) |
Parse TORO/G2O edge "id1 id2 x y yaw". More... | |
GTSAM_EXPORT GraphAndValues | gtsam::load2D (std::pair< std::string, SharedNoiseModel > dataset, size_t maxIndex=0, bool addNoise=false, bool smart=true, NoiseFormat noiseFormat=NoiseFormatAUTO, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
Load TORO 2D Graph. More... | |
GraphAndValues | gtsam::load2D (const std::string &filename, SharedNoiseModel model=SharedNoiseModel(), size_t maxIndex=0, bool addNoise=false, bool smart=true, NoiseFormat noiseFormat=NoiseFormatAUTO, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
Load TORO/G2O style graph files. More... | |
void | gtsam::save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const std::string &filename) |
save 2d graph | |
GraphAndValues | gtsam::readG2o (const std::string &g2oFile, const bool is3D=false, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
This function parses a g2o file and stores the measurements into a NonlinearFactorGraph and the initial guess in a Values structure. More... | |
void | gtsam::writeG2o (const NonlinearFactorGraph &graph, const Values &estimate, const std::string &filename) |
This function writes a g2o file from NonlinearFactorGraph and a Values structure. More... | |
GraphAndValues | gtsam::load3D (const std::string &filename) |
Load TORO 3D Graph. | |
BetweenFactorPose2s | gtsam::parse2DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
BetweenFactorPose3s | gtsam::parse3DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
utility functions for loading datasets