dataset.cpp File Reference

utility functions for loading datasets More...

#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/nonlinear/Values-inl.h>
#include <gtsam/linear/Sampler.h>
#include <gtsam/inference/FactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/GenericValue.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Value.h>
#include <gtsam/base/Vector.h>
#include <gtsam/base/types.h>
#include <boost/assign/list_inserter.hpp>
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/optional.hpp>
#include <cmath>
#include <fstream>
#include <iostream>
#include <stdexcept>

Include dependency graph for dataset.cpp:

Go to the source code of this file.

Classes
struct	gtsam::ParseFactor< T >
struct	gtsam::ParseMeasurement< T >
struct	gtsam::ParseMeasurement< BearingRange2D >
struct	gtsam::ParseMeasurement< Pose2 >
struct	gtsam::ParseMeasurement< Pose3 >

Namespaces
	gtsam
	traits

Macros
#define	LINESIZE   81920

Typedefs
using	gtsam::BearingRange2D = BearingRange< Pose2, Point2 >
template<typename T >
using	gtsam::Parser = std::function< boost::optional< T >(istream &is, const string &tag)>

Functions
static BinaryMeasurement< Rot2 >	gtsam::convert (const BinaryMeasurement< Pose2 > &p)
static BinaryMeasurement< Rot3 >	gtsam::convert (const BinaryMeasurement< Pose3 > &p)
static SharedNoiseModel	gtsam::createNoiseModel (const Vector6 v, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
string	gtsam::createRewrittenFileName (const string &name)
boost::shared_ptr< Sampler >	gtsam::createSampler (const SharedNoiseModel &model)
string	gtsam::findExampleDataFile (const string &name)
Pose3	gtsam::gtsam2openGL (const Rot3 &R, double tx, double ty, double tz)
	This function converts a GTSAM camera pose to an openGL camera pose. More...
Pose3	gtsam::gtsam2openGL (const Pose3 &PoseGTSAM)
	This function converts a GTSAM camera pose to an openGL camera pose. More...
Values	gtsam::initialCamerasAndPointsEstimate (const SfmData &db)
	This function creates initial values for cameras and points from db. More...
Values	gtsam::initialCamerasEstimate (const SfmData &db)
	This function creates initial values for cameras from db. More...
GraphAndValues	gtsam::load2D (const string &filename, SharedNoiseModel model, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
GraphAndValues	gtsam::load2D (pair< string, SharedNoiseModel > dataset, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType)
GraphAndValues	gtsam::load2D_robust (const string &filename, const noiseModel::Base::shared_ptr &model, size_t maxIndex)
GraphAndValues	gtsam::load3D (const string &filename)
	Load TORO 3D Graph. More...
Pose3	gtsam::openGL2gtsam (const Rot3 &R, double tx, double ty, double tz)
	This function converts an openGL camera pose to an GTSAM camera pose. More...
Rot3	gtsam::openGLFixedRotation ()
istream &	gtsam::operator>> (istream &is, Quaternion &q)
istream &	gtsam::operator>> (istream &is, Rot3 &R)
istream &	gtsam::operator>> (istream &is, Matrix6 &m)
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)
boost::optional< IndexedEdge >	gtsam::parseEdge (istream &is, const string &tag)
template<>
std::vector< BetweenFactor< Pose2 >::shared_ptr >	gtsam::parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
std::vector< BetweenFactor< Pose3 >::shared_ptr >	gtsam::parseFactors< Pose3 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<typename T >
static void	gtsam::parseLines (const string &filename, Parser< T > parse)
template<>
std::vector< BinaryMeasurement< Pose2 > >	gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
std::vector< BinaryMeasurement< Rot2 > >	gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
std::vector< BinaryMeasurement< Pose3 > >	gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
std::vector< BinaryMeasurement< Rot3 > >	gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<typename T >
map< size_t, T >	gtsam::parseToMap (const string &filename, Parser< pair< size_t, T >> parse, size_t maxIndex)
template<typename T >
static vector< T >	gtsam::parseToVector (const string &filename, Parser< T > parse)
template<>
std::map< size_t, Point2 >	gtsam::parseVariables< Point2 > (const std::string &filename, size_t maxIndex)
template<>
std::map< size_t, Point3 >	gtsam::parseVariables< Point3 > (const std::string &filename, size_t maxIndex)
template<>
std::map< size_t, Pose2 >	gtsam::parseVariables< Pose2 > (const std::string &filename, size_t maxIndex)
template<>
std::map< size_t, Pose3 >	gtsam::parseVariables< Pose3 > (const std::string &filename, size_t maxIndex)
boost::optional< IndexedLandmark >	gtsam::parseVertexLandmark (istream &is, const string &tag)
boost::optional< pair< size_t, Point3 > >	gtsam::parseVertexPoint3 (istream &is, const string &tag)
boost::optional< IndexedPose >	gtsam::parseVertexPose (istream &is, const string &tag)
boost::optional< pair< size_t, Pose3 > >	gtsam::parseVertexPose3 (istream &is, const string &tag)
bool	gtsam::readBAL (const string &filename, SfmData &data)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a SfmData structure. More...
SfmData	gtsam::readBal (const string &filename)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure. Mainly used by wrapped code. More...
bool	gtsam::readBundler (const string &filename, SfmData &data)
	This function parses a bundler output file and stores the data into a SfmData structure. More...
GraphAndValues	gtsam::readG2o (const string &g2oFile, const bool is3D, KernelFunctionType kernelFunctionType)
	This function parses a g2o file and stores the measurements into a NonlinearFactorGraph and the initial guess in a Values structure. More...
void	gtsam::save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const string &filename)
bool	gtsam::writeBAL (const string &filename, SfmData &data)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure. More...
bool	gtsam::writeBALfromValues (const string &filename, const SfmData &data, Values &values)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values) More...
void	gtsam::writeG2o (const NonlinearFactorGraph &graph, const Values &estimate, const string &filename)
	This function writes a g2o file from NonlinearFactorGraph and a Values structure. More...

Detailed Description

utility functions for loading datasets

Date

Jan 22, 2010

Author

Kai Ni

Luca Carlone

Frank Dellaert

Varun Agrawal

Definition in file dataset.cpp.

Macro Definition Documentation

#define LINESIZE   81920

Definition at line 60 of file dataset.cpp.