dataset.h File Reference

utility functions for loading datasets More...

Go to the source code of this file.

Classes
struct	gtsam::SfM_Track
	Define the structure for the 3D points. More...
struct	gtsam::SfM_data
	Define the structure for SfM data. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef std::pair< Key, Pose2 >	gtsam::IndexedPose
	Return type for auxiliary functions.
typedef std::pair< std::pair< Key, Key >, Pose2 >	gtsam::IndexedEdge
typedef std::pair< NonlinearFactorGraph::shared_ptr, Values::shared_ptr >	gtsam::GraphAndValues
	Return type for load functions.
using	gtsam::BetweenFactorPose3s = std::vector< gtsam::BetweenFactor< Pose3 >::shared_ptr >
	Parse edges in 3D TORO graph file into a set of BetweenFactors.
typedef std::pair< size_t, Point2 >	gtsam::SfM_Measurement
	A measurement with its camera index.
typedef std::pair< size_t, size_t >	gtsam::SIFT_Index
	SfM_Track.
typedef PinholeCamera< Cal3Bundler >	gtsam::SfM_Camera
	Define the structure for the camera poses.

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.
boost::optional< IndexedPose >	gtsam::parseVertex (std::istream &is, const std::string &tag)
	Parse TORO/G2O vertex "id x y yaw". 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, int maxID=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(), Key maxID=0, bool addNoise=false, bool smart=true, NoiseFormat noiseFormat=NoiseFormatAUTO, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE)
	Load TORO/G2O style graph files. More...
GraphAndValues	gtsam::load2D_robust (const string &filename, noiseModel::Base::shared_ptr &model, int maxID)
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...
BetweenFactorPose3s	gtsam::parse3DFactors (const string &filename)
std::map< Key, Pose3 >	gtsam::parse3DPoses (const std::string &filename)
	Parse vertices in 3D TORO graph file into a map of Pose3s.
GraphAndValues	gtsam::load3D (const std::string &filename)
	Load TORO 3D Graph.
bool	gtsam::readBundler (const std::string &filename, SfM_data &data)
	This function parses a bundler output file and stores the data into a SfM_data structure. More...
bool	gtsam::readBAL (const std::string &filename, SfM_data &data)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a SfM_data structure. More...
bool	gtsam::writeBAL (const std::string &filename, SfM_data &data)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfM_data structure. More...
bool	gtsam::writeBALfromValues (const std::string &filename, const SfM_data &data, Values &values)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfM_data structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values) 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...
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::initialCamerasEstimate (const SfM_data &db)
	This function creates initial values for cameras from db. More...
Values	gtsam::initialCamerasAndPointsEstimate (const SfM_data &db)
	This function creates initial values for cameras and points from db. More...

Detailed Description

utility functions for loading datasets

Date

Jan 22, 2010

Author

nikai, Luca Carlone