dataset.h File Reference

utility functions for loading datasets More...

Go to the source code of this file.

Classes
struct	gtsam::SfmTrack
	Define the structure for the 3D points. More...
struct	gtsam::traits< SfmTrack >
	traits More...
struct	gtsam::SfmData
	Define the structure for SfM data. More...
struct	gtsam::traits< SfmData >
	traits More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef std::pair< size_t, Pose2 >	gtsam::IndexedPose
	Return type for auxiliary functions.
typedef std::pair< size_t, Point2 >	gtsam::IndexedLandmark
typedef std::pair< std::pair< size_t, size_t >, Pose2 >	gtsam::IndexedEdge
using	gtsam::GraphAndValues = std::pair< NonlinearFactorGraph::shared_ptr, Values::shared_ptr >
	Return type for load functions, which return a graph and initial values. More...
typedef std::pair< size_t, Point2 >	gtsam::SfmMeasurement
	A measurement with its camera index.
typedef std::pair< size_t, size_t >	gtsam::SiftIndex
	Sift index for SfmTrack.
typedef PinholeCamera< Cal3Bundler >	gtsam::SfmCamera
	Define the structure for the camera poses.
using	gtsam::BetweenFactorPose2s = std::vector< BetweenFactor< Pose2 >::shared_ptr >
using	gtsam::BetweenFactorPose3s = std::vector< BetweenFactor< Pose3 >::shared_ptr >
using	gtsam::BinaryMeasurementsUnit3 = std::vector< BinaryMeasurement< Unit3 > >

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.
template<typename T >
GTSAM_EXPORT std::map< size_t, T >	gtsam::parseVariables (const std::string &filename, size_t maxIndex=0)
	Parse variables in a line-based text format (like g2o) into a map. More...
template<typename T >
GTSAM_EXPORT std::vector< BinaryMeasurement< T > >	gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0)
	Parse binary measurements in a line-based text format (like g2o) into a vector. More...
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)
	Parse BetweenFactors in a line-based text format (like g2o) into a vector of shared pointers. More...
boost::optional< IndexedPose >	gtsam::parseVertexPose (std::istream &is, const std::string &tag)
	Parse TORO/G2O vertex "id x y yaw". More...
boost::optional< IndexedLandmark >	gtsam::parseVertexLandmark (std::istream &is, const std::string &tag)
	Parse G2O landmark vertex "id x y". 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, size_t maxIndex=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(), size_t maxIndex=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, const noiseModel::Base::shared_ptr &model, size_t maxIndex)
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...
GraphAndValues	gtsam::load3D (const std::string &filename)
	Load TORO 3D Graph.
bool	gtsam::readBundler (const std::string &filename, SfmData &data)
	This function parses a bundler output file and stores the data into a SfmData structure. More...
bool	gtsam::readBAL (const std::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 std::string &filename)
	This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure. More...
bool	gtsam::writeBAL (const std::string &filename, SfmData &data)
	This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure. More...
bool	gtsam::writeBALfromValues (const std::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...
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 SfmData &db)
	This function creates initial values for cameras from db. More...
Values	gtsam::initialCamerasAndPointsEstimate (const SfmData &db)
	This function creates initial values for cameras and points from db. 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)

Detailed Description

utility functions for loading datasets

Date

Jan 22, 2010

Author

Ni Kai

Luca Carlone

Varun Agrawal