53 lines
1.6 KiB
C++
53 lines
1.6 KiB
C++
/*
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* dataset.h
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*
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* Created on: Jan 22, 2010
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* Author: nikai
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* Description: utility functions for loading datasets
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*/
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#pragma once
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include <gtsam/slam/pose2SLAM.h>
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#include <gtsam/inference/graph.h>
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namespace gtsam
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{
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/**
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* Construct dataset filename from short name
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* Currently has "Killian" "intel.gfs", "10K", etc...
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* @param filename
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* @param optional dataset, if empty will try to getenv $DATASET
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* @param optional path, if empty will try to getenv $HOME
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*/
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std::pair<std::string, boost::optional<gtsam::SharedDiagonal> >
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dataset(const std::string& dataset = "", const std::string& path = "");
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/**
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* Load TORO 2D Graph
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* @param filename
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* @param maxID, if non-zero cut out vertices >= maxID
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* @param smart: try to reduce complexity of covariance to cheapest model
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*/
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std::pair<boost::shared_ptr<gtsam::Pose2Graph>, boost::shared_ptr<gtsam::Pose2Values> > load2D(
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std::pair<std::string, boost::optional<SharedDiagonal> > dataset,
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int maxID = 0, bool addNoise=false, bool smart=true);
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std::pair<boost::shared_ptr<gtsam::Pose2Graph>, boost::shared_ptr<gtsam::Pose2Values> > load2D(
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const std::string& filename,
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boost::optional<gtsam::SharedDiagonal> model = boost::optional<gtsam::SharedDiagonal>(),
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int maxID = 0, bool addNoise=false, bool smart=true);
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/** save 2d graph */
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void save2D(const gtsam::Pose2Graph& graph, const gtsam::Pose2Values& config, const gtsam::SharedDiagonal model,
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const std::string& filename);
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/**
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* Load TORO 3D Graph
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*/
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bool load3D(const std::string& filename);
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} // namespace gtsam
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