dataset.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/Testable.h>
#include <gtsam/base/types.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/SL4.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/BinaryMeasurement.h>
#include <gtsam/slam/BetweenFactor.h>
 
#include <map>
#include <optional>
#include <string>
#include <utility>  // for pair
#include <vector>
 
namespace gtsam {

GTSAM_EXPORT std::string findExampleDataFile(const std::string& name);

GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);

enum NoiseFormat {
  NoiseFormatG2O, 
  NoiseFormatTORO, 
  NoiseFormatGRAPH, 
  NoiseFormatCOV, 
  NoiseFormatAUTO  
};

enum KernelFunctionType {
  KernelFunctionTypeNONE, KernelFunctionTypeHUBER, KernelFunctionTypeTUKEY
};

template <typename T>
GTSAM_EXPORT std::map<size_t, T> parseVariables(const std::string &filename,
                                                size_t maxIndex = 0);

template <typename T>
GTSAM_EXPORT std::vector<BinaryMeasurement<T>>
parseMeasurements(const std::string &filename,
                  const noiseModel::Diagonal::shared_ptr &model = nullptr,
                  size_t maxIndex = 0);

template <typename T>
GTSAM_EXPORT std::vector<typename BetweenFactor<T>::shared_ptr>
parseFactors(const std::string &filename,
             const noiseModel::Diagonal::shared_ptr &model = nullptr,
             size_t maxIndex = 0);

typedef std::pair<size_t, Pose2> IndexedPose;
typedef std::pair<size_t, Point2> IndexedLandmark;
typedef std::pair<std::pair<size_t, size_t>, Pose2> IndexedEdge;

GTSAM_EXPORT std::optional<IndexedPose> parseVertexPose(std::istream& is,
    const std::string& tag);

GTSAM_EXPORT std::optional<IndexedLandmark> parseVertexLandmark(std::istream& is,
    const std::string& tag);

GTSAM_EXPORT std::optional<IndexedEdge> parseEdge(std::istream& is,
    const std::string& tag);

using GraphAndValues =
    std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr>;

GTSAM_EXPORT GraphAndValues load2D(
    std::pair<std::string, SharedNoiseModel> dataset, size_t maxIndex = 0,
    bool addNoise = false,
    bool smart = true, //
    NoiseFormat noiseFormat = NoiseFormatAUTO,
    KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);

GTSAM_EXPORT GraphAndValues
load2D(const std::string& filename, SharedNoiseModel model = SharedNoiseModel(),
       size_t maxIndex = 0, bool addNoise = false, bool smart = true,
       NoiseFormat noiseFormat = NoiseFormatAUTO,  //
       KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);

GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
    const Values& config, const noiseModel::Diagonal::shared_ptr model,
    const std::string& filename);

GTSAM_EXPORT GraphAndValues
readG2o(const std::string& g2oFile, const bool is3D = false,
        KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);

GTSAM_EXPORT void writeG2o(const NonlinearFactorGraph& graph,
    const Values& estimate, const std::string& filename);

GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
 
// Wrapper-friendly versions of parseFactors<Pose2> and parseFactors<Pose2>
using BetweenFactorPose2s = std::vector<BetweenFactor<Pose2>::shared_ptr>;
GTSAM_EXPORT BetweenFactorPose2s
parse2DFactors(const std::string &filename,
               const noiseModel::Diagonal::shared_ptr &model = nullptr,
               size_t maxIndex = 0);
 
using BetweenFactorPose3s = std::vector<BetweenFactor<Pose3>::shared_ptr>;
GTSAM_EXPORT BetweenFactorPose3s
parse3DFactors(const std::string &filename,
               const noiseModel::Diagonal::shared_ptr &model = nullptr,
               size_t maxIndex = 0);
 
using BetweenFactorSL4s = std::vector<BetweenFactor<SL4>::shared_ptr>;
 
using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
using BinaryMeasurementsPoint3 = std::vector<BinaryMeasurement<Point3>>;
using BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>;
}  // namespace gtsam