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dataset.cpp File Reference

utility functions for loading datasets More...

## Namespaces

namespace | gtsam
| Global functions in a separate testing namespace.

## Macros

#define | LINESIZE 81920

## Typedefs

template<typename T>
using | gtsam::Parser
using | gtsam::BearingRange2D = BearingRange<Pose2, Point2>

## 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>
map< size_t, T > | gtsam::parseToMap (const string &filename, Parser< pair< size_t, T > > parse, size_t maxIndex)
boost::optional< IndexedPose > | gtsam::parseVertexPose (std::istream &is, const std::string &tag)
| Parse TORO/G2O vertex "id x y yaw".
template<>
GTSAM_EXPORT std::map< size_t, Pose2 > | gtsam::parseVariables< Pose2 > (const std::string &filename, size_t maxIndex)
boost::optional< IndexedLandmark > | gtsam::parseVertexLandmark (std::istream &is, const std::string &tag)
| Parse G2O landmark vertex "id x y".
template<>
GTSAM_EXPORT std::map< size_t, Point2 > | gtsam::parseVariables< Point2 > (const std::string &filename, size_t maxIndex)
boost::optional< IndexedEdge > | gtsam::parseEdge (std::istream &is, const std::string &tag)
| Parse TORO/G2O edge "id1 id2 x y yaw".
boost::shared_ptr< Sampler > | gtsam::createSampler (const SharedNoiseModel &model)
template<>
GTSAM_EXPORT std::vector< BinaryMeasurement< Pose2 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
GTSAM_EXPORT std::vector< BinaryMeasurement< Rot2 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
GTSAM_EXPORT std::vector< BetweenFactor< Pose2 >::shared_ptr > | gtsam::parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
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.
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_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.
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.
istream & | gtsam::operator>> (istream &is, Quaternion &q)
istream & | gtsam::operator>> (istream &is, Rot3 &R)
boost::optional< pair< size_t, Pose3 > > | gtsam::parseVertexPose3 (istream &is, const string &tag)
template<>
GTSAM_EXPORT std::map< size_t, Pose3 > | gtsam::parseVariables< Pose3 > (const std::string &filename, size_t maxIndex)
boost::optional< pair< size_t, Point3 > > | gtsam::parseVertexPoint3 (istream &is, const string &tag)
template<>
GTSAM_EXPORT std::map< size_t, Point3 > | gtsam::parseVariables< Point3 > (const std::string &filename, size_t maxIndex)
istream & | gtsam::operator>> (istream &is, Matrix6 &m)
template<>
GTSAM_EXPORT std::vector< BinaryMeasurement< Pose3 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
GTSAM_EXPORT std::vector< BinaryMeasurement< Rot3 > > | gtsam::parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
template<>
GTSAM_EXPORT std::vector< BetweenFactor< Pose3 >::shared_ptr > | gtsam::parseFactors< Pose3 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex)
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)
Key | L (std::uint64_t j)

## Detailed Description

utility functions for loading datasets

Date
  Jan 22, 2010

Author
  Kai Ni
  Luca Carlone
  Frank Dellaert
  Varun Agrawal