|
gtsam 4.1.1
gtsam
|
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) |
utility functions for loading datasets
1.9.3 
