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 <optional>
#include <cmath>
#include <fstream>
#include <iostream>
#include <stdexcept>
#include <string>
#include <filesystem>

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< std::optional< T >(std::istream &is, const std::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)
GTSAM_EXPORT std::string	gtsam::createRewrittenFileName (const std::string &name)
std::shared_ptr< Sampler >	gtsam::createSampler (const SharedNoiseModel &model)
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::load2D_robust (const std::string &filename, const noiseModel::Base::shared_ptr &model, size_t maxIndex)
GraphAndValues	gtsam::load3D (const std::string &filename)
	Load TORO 3D Graph. More...
std::istream &	gtsam::operator>> (std::istream &is, Matrix6 &m)
std::istream &	gtsam::operator>> (std::istream &is, Quaternion &q)
std::istream &	gtsam::operator>> (std::istream &is, Rot3 &R)
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<>
GTSAM_EXPORT std::vector< BetweenFactor< Pose2 >::shared_ptr >	gtsam::parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
GTSAM_EXPORT 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 std::string &filename, Parser< T > parse)
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 >
std::map< size_t, T >	gtsam::parseToMap (const std::string &filename, Parser< std::pair< size_t, T >> parse, size_t maxIndex)
template<typename T >
static std::vector< T >	gtsam::parseToVector (const std::string &filename, Parser< T > parse)
template<>
GTSAM_EXPORT std::map< size_t, Point2 >	gtsam::parseVariables< Point2 > (const std::string &filename, size_t maxIndex)
template<>
GTSAM_EXPORT std::map< size_t, Point3 >	gtsam::parseVariables< Point3 > (const std::string &filename, size_t maxIndex)
template<>
GTSAM_EXPORT std::map< size_t, Pose2 >	gtsam::parseVariables< Pose2 > (const std::string &filename, size_t maxIndex)
template<>
GTSAM_EXPORT std::map< size_t, Pose3 >	gtsam::parseVariables< Pose3 > (const std::string &filename, size_t maxIndex)
std::optional< IndexedLandmark >	gtsam::parseVertexLandmark (std::istream &is, const std::string &tag)
std::optional< std::pair< size_t, Point3 > >	gtsam::parseVertexPoint3 (std::istream &is, const std::string &tag)
std::optional< IndexedPose >	gtsam::parseVertexPose (std::istream &is, const std::string &tag)
std::optional< std::pair< size_t, Pose3 > >	gtsam::parseVertexPose3 (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...

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

LINESIZE

#define LINESIZE   81920

Definition at line 65 of file dataset.cpp.