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Better wrap of load

release/4.3a0
Frank Dellaert 2022-01-30 14:09:08 -05:00
parent 1cc67754d3
commit 8e2f8a87eb
2 changed files with 33 additions and 20 deletions
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14
gtsam/slam/dataset.h
View File

@ -167,10 +167,11 @@ GTSAM_EXPORT GraphAndValues load2D(
* @param kernelFunctionType whether to wrap the noise model in a robust kernel
* @return graph and initial values
*/
GTSAM_EXPORT GraphAndValues load2D(const std::string& filename,
SharedNoiseModel model = SharedNoiseModel(), size_t maxIndex = 0, bool addNoise =
false, bool smart = true, NoiseFormat noiseFormat = NoiseFormatAUTO, //
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
GTSAM_EXPORT GraphAndValues
load2D(const std::string& filename, SharedNoiseModel model = SharedNoiseModel(),
size_t maxIndex = 0, bool addNoise = false, bool smart = true,
NoiseFormat noiseFormat = NoiseFormatAUTO, //
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
/** save 2d graph */
GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
@ -185,8 +186,9 @@ GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
* @param kernelFunctionType whether to wrap the noise model in a robust kernel
* @return graph and initial values
*/
GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile, const bool is3D = false,
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
GTSAM_EXPORT GraphAndValues
readG2o(const std::string& g2oFile, const bool is3D = false,
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
/**
* @brief This function writes a g2o file from

39
gtsam/slam/slam.i
View File

@ -253,17 +253,27 @@ bool writeBAL(string filename, gtsam::SfmData& data);
gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex,
bool addNoise, bool smart);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex,
bool addNoise);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
enum NoiseFormat {
NoiseFormatG2O,
NoiseFormatTORO,
NoiseFormatGRAPH,
NoiseFormatCOV,
NoiseFormatAUTO
};
enum KernelFunctionType {
KernelFunctionTypeNONE,
KernelFunctionTypeHUBER,
KernelFunctionTypeTUKEY
};
std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
string filename, gtsam::noiseModel::Diagonal* model = nullptr,
size_t maxIndex = 0, bool addNoise = false, bool smart = true,
gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO,
gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE);
void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
string filename);
@ -290,9 +300,10 @@ gtsam::BetweenFactorPose3s parse3DFactors(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename,
bool is3D);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
string filename, const bool is3D = false,
gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE);
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& estimate, string filename);