53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/*
|
|
* dataset.h
|
|
*
|
|
* Created on: Jan 22, 2010
|
|
* Author: nikai
|
|
* Description: utility functions for loading datasets
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
|
|
#include <string>
|
|
#include <boost/shared_ptr.hpp>
|
|
#include "pose2SLAM.h"
|
|
#include "graph.h"
|
|
|
|
namespace gtsam
|
|
{
|
|
/**
|
|
* Construct dataset filename from short name
|
|
* Currently has "Killian" "intel.gfs", "10K", etc...
|
|
* @param filename
|
|
* @param optional dataset, if empty will try to getenv $DATASET
|
|
* @param optional path, if empty will try to getenv $HOME
|
|
*/
|
|
std::pair<std::string, boost::optional<gtsam::SharedDiagonal> >
|
|
dataset(const std::string& dataset = "", const std::string& path = "");
|
|
|
|
/**
|
|
* Load TORO 2D Graph
|
|
* @param filename
|
|
* @param maxID, if non-zero cut out vertices >= maxID
|
|
* @param smart: try to reduce complexity of covariance to cheapest model
|
|
*/
|
|
std::pair<boost::shared_ptr<gtsam::Pose2Graph>, boost::shared_ptr<gtsam::Pose2Config> > load2D(
|
|
std::pair<std::string, boost::optional<SharedDiagonal> > dataset,
|
|
int maxID = 0, bool addNoise=false, bool smart=true);
|
|
std::pair<boost::shared_ptr<gtsam::Pose2Graph>, boost::shared_ptr<gtsam::Pose2Config> > load2D(
|
|
const std::string& filename,
|
|
boost::optional<gtsam::SharedDiagonal> model = boost::optional<gtsam::SharedDiagonal>(),
|
|
int maxID = 0, bool addNoise=false, bool smart=true);
|
|
|
|
/** save 2d graph */
|
|
void save2D(const gtsam::Pose2Graph& graph, const gtsam::Pose2Config& config, const gtsam::SharedDiagonal model,
|
|
const std::string& filename);
|
|
|
|
/**
|
|
* Load TORO 3D Graph
|
|
*/
|
|
bool load3D(const std::string& filename);
|
|
|
|
} // namespace gtsam
|