dataset.h File Reference

utility functions for loading datasets More...

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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
	Return type for load functions, which return a graph and initial values.
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>>
using	gtsam::BinaryMeasurementsPoint3 = std::vector<BinaryMeasurement<Point3>>
using	gtsam::BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>

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.
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.
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.
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.
boost::optional< IndexedPose >	gtsam::parseVertexPose (std::istream &is, const std::string &tag)
	Parse TORO/G2O vertex "id x y yaw".
boost::optional< IndexedLandmark >	gtsam::parseVertexLandmark (std::istream &is, const std::string &tag)
	Parse G2O landmark vertex "id x y".
boost::optional< IndexedEdge >	gtsam::parseEdge (std::istream &is, const std::string &tag)
	Parse TORO/G2O edge "id1 id2 x y yaw".
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.
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.
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.
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.
GraphAndValues	gtsam::load3D (const std::string &filename)
	Load TORO 3D Graph.
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