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| string | gtsam::findExampleDataFile (const std::string &name) |
| | Find the full path to an example dataset distributed with gtsam. More...
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string | gtsam::createRewrittenFileName (const std::string &name) |
| | Creates a temporary file name that needs to be ignored in .gitingnore for checking read-write oprations.
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template<typename T > |
| map< size_t, T > | gtsam::parseToMap (const string &filename, Parser< pair< size_t, T > > parse, size_t maxIndex) |
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| boost::optional< IndexedPose > | gtsam::parseVertexPose (std::istream &is, const std::string &tag) |
| | Parse TORO/G2O vertex "id x y yaw". More...
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template<> |
| std::map< size_t, Pose2 > | gtsam::parseVariables< Pose2 > (const std::string &filename, size_t maxIndex) |
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| boost::optional< IndexedLandmark > | gtsam::parseVertexLandmark (std::istream &is, const std::string &tag) |
| | Parse G2O landmark vertex "id x y". More...
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template<> |
| std::map< size_t, Point2 > | gtsam::parseVariables< Point2 > (const std::string &filename, size_t maxIndex) |
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| boost::optional< IndexedEdge > | gtsam::parseEdge (std::istream &is, const std::string &tag) |
| | Parse TORO/G2O edge "id1 id2 x y yaw". More...
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boost::shared_ptr< Sampler > | gtsam::createSampler (const SharedNoiseModel &model) |
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template<> |
| std::vector< BinaryMeasurement< Pose2 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BinaryMeasurement< Rot2 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BetweenFactor< Pose2 >::shared_ptr > | gtsam::parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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| 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...
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| GraphAndValues | gtsam::load2D (pair< string, SharedNoiseModel > dataset, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType) |
| | Load TORO 2D Graph. More...
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| GraphAndValues | gtsam::load2D_robust (const string &filename, const noiseModel::Base::shared_ptr &model, size_t maxIndex) |
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void | gtsam::save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const std::string &filename) |
| | save 2d graph
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| 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...
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| 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...
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istream & | gtsam::operator>> (istream &is, Quaternion &q) |
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istream & | gtsam::operator>> (istream &is, Rot3 &R) |
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boost::optional< pair< size_t, Pose3 > > | gtsam::parseVertexPose3 (istream &is, const string &tag) |
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template<> |
| std::map< size_t, Pose3 > | gtsam::parseVariables< Pose3 > (const std::string &filename, size_t maxIndex) |
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boost::optional< pair< size_t, Point3 > > | gtsam::parseVertexPoint3 (istream &is, const string &tag) |
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template<> |
| std::map< size_t, Point3 > | gtsam::parseVariables< Point3 > (const std::string &filename, size_t maxIndex) |
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istream & | gtsam::operator>> (istream &is, Matrix6 &m) |
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template<> |
| std::vector< BinaryMeasurement< Pose3 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BinaryMeasurement< Rot3 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BetweenFactor< Pose3 >::shared_ptr > | gtsam::parseFactors< Pose3 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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GraphAndValues | gtsam::load3D (const std::string &filename) |
| | Load TORO 3D Graph.
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Rot3 | gtsam::openGLFixedRotation () |
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| 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...
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| 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...
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| Pose3 | gtsam::gtsam2openGL (const Pose3 &PoseGTSAM) |
| | This function converts a GTSAM camera pose to an openGL camera pose. More...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| Values | gtsam::initialCamerasEstimate (const SfmData &db) |
| | This function creates initial values for cameras from db. More...
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| Values | gtsam::initialCamerasAndPointsEstimate (const SfmData &db) |
| | This function creates initial values for cameras and points from db. More...
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BetweenFactorPose2s | gtsam::parse2DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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BetweenFactorPose3s | gtsam::parse3DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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utility functions for loading datasets
- Date
- Jan 22, 2010
- Author
- Kai Ni
-
Luca Carlone
-
Frank Dellaert
-
Varun Agrawal
1.9.3