utility functions for loading datasets More...
#include <gtsam/sfm/BinaryMeasurement.h>#include <gtsam/slam/BetweenFactor.h>#include <gtsam/sfm/SfmData.h>#include <gtsam/geometry/Cal3Bundler.h>#include <gtsam/geometry/PinholeCamera.h>#include <gtsam/geometry/Pose2.h>#include <gtsam/geometry/Pose3.h>#include <gtsam/nonlinear/NonlinearFactorGraph.h>#include <gtsam/nonlinear/Values.h>#include <gtsam/linear/NoiseModel.h>#include <gtsam/base/Testable.h>#include <gtsam/base/types.h>#include <string>#include <utility>#include <vector>#include <iosfwd>#include <map>#include <optional>
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Namespaces | |
| gtsam | |
| traits | |
Typedefs | |
| using | gtsam::BetweenFactorPose2s = list |
| using | gtsam::BetweenFactorPose3s = list |
| using | gtsam::BinaryMeasurementsPoint3 = list |
| using | gtsam::BinaryMeasurementsRot3 = list |
| using | gtsam::BinaryMeasurementsUnit3 = list |
| using | gtsam::GraphAndValues = std::pair< NonlinearFactorGraph::shared_ptr, Values::shared_ptr > |
| typedef std::pair< std::pair< size_t, size_t >, Pose2 > | gtsam::IndexedEdge |
| typedef std::pair< size_t, Point2 > | gtsam::IndexedLandmark |
| typedef std::pair< size_t, Pose2 > | gtsam::IndexedPose |
| Return type for auxiliary functions. More... | |
Enumerations | |
| enum | gtsam::KernelFunctionType { gtsam::KernelFunctionTypeNONE, gtsam::KernelFunctionTypeHUBER, gtsam::KernelFunctionTypeTUKEY } |
| Robust kernel type to wrap around quadratic noise model. More... | |
| enum | gtsam::NoiseFormat { gtsam::NoiseFormatG2O, gtsam::NoiseFormatTORO, gtsam::NoiseFormatGRAPH, gtsam::NoiseFormatCOV, gtsam::NoiseFormatAUTO } |
| Indicates how noise parameters are stored in file. More... | |
Functions | |
| GTSAM_EXPORT std::string | gtsam::createRewrittenFileName (const std::string &name) |
| GTSAM_EXPORT std::string | gtsam::findExampleDataFile (const std::string &name) |
| GraphAndValues | gtsam::load2D (const std::string &filename, SharedNoiseModel model, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType) |
| GraphAndValues | gtsam::load2D (std::pair< std::string, SharedNoiseModel > dataset, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType) |
| GraphAndValues | gtsam::load3D (const std::string &filename) |
| Load TORO 3D Graph. More... | |
| 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) |
| std::optional< IndexedEdge > | gtsam::parseEdge (std::istream &is, const std::string &tag) |
| 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) |
| template<> | |
| GTSAM_EXPORT std::vector< BinaryMeasurement< Pose2 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
| template<typename T > | |
| GTSAM_EXPORT std::map< size_t, T > | gtsam::parseVariables (const std::string &filename, size_t maxIndex=0) |
| std::optional< IndexedLandmark > | gtsam::parseVertexLandmark (std::istream &is, const std::string &tag) |
| std::optional< IndexedPose > | gtsam::parseVertexPose (std::istream &is, const std::string &tag) |
| 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::save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const std::string &filename) |
| 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... | |