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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 * @param kernelFunctionType whether to wrap the noise model in a robust kernel
* @return graph and initial values * @return graph and initial values
*/ */
GTSAM_EXPORT GraphAndValues load2D(const std::string& filename, GTSAM_EXPORT GraphAndValues
SharedNoiseModel model = SharedNoiseModel(), size_t maxIndex = 0, bool addNoise = load2D(const std::string& filename, SharedNoiseModel model = SharedNoiseModel(),
false, bool smart = true, NoiseFormat noiseFormat = NoiseFormatAUTO, // size_t maxIndex = 0, bool addNoise = false, bool smart = true,
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE); NoiseFormat noiseFormat = NoiseFormatAUTO, //
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
/** save 2d graph */ /** save 2d graph */
GTSAM_EXPORT void save2D(const NonlinearFactorGraph& 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 * @param kernelFunctionType whether to wrap the noise model in a robust kernel
* @return graph and initial values * @return graph and initial values
*/ */
GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile, const bool is3D = false, GTSAM_EXPORT GraphAndValues
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE); readG2o(const std::string& g2oFile, const bool is3D = false,
KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);
/** /**
* @brief This function writes a g2o file from * @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 initialCamerasEstimate(const gtsam::SfmData& db);
gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db); gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D( enum NoiseFormat {
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex, NoiseFormatG2O,
bool addNoise, bool smart); NoiseFormatTORO,
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D( NoiseFormatGRAPH,
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex, NoiseFormatCOV,
bool addNoise); NoiseFormatAUTO
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D( };
string filename, gtsam::noiseModel::Diagonal* model, int maxIndex);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D( enum KernelFunctionType {
string filename, gtsam::noiseModel::Diagonal* model); KernelFunctionTypeNONE,
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename); 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, void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model, const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
string filename); string filename);
@ -290,9 +300,10 @@ gtsam::BetweenFactorPose3s parse3DFactors(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename); pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename); pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename, string filename, const bool is3D = false,
bool is3D); gtsam::KernelFunctionType kernelFunctionType =
gtsam::KernelFunctionTypeNONE);
void writeG2o(const gtsam::NonlinearFactorGraph& graph, void writeG2o(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& estimate, string filename); const gtsam::Values& estimate, string filename);