g2o::Gm2dlIO Class Reference

read / write gm2dl file into / out of a SparseOptimizer More...

#include <gm2dl_io.h>

Static Public Member Functions
static bool	readGm2dl (const std::string &filename, SparseOptimizer &optimizer, bool overrideCovariances=false)
static bool	updateLaserData (SparseOptimizer &optimizer)
static bool	writeGm2dl (const std::string &filename, const SparseOptimizer &optimizer)
static int	readRobotLaser (const std::string &filename, DataQueue &queue)

Static Public Attributes
static const int	ID_LASERPOSE = numeric_limits<int>::max()
static const int	ID_ODOMCALIB = numeric_limits<int>::max() - 1

Detailed Description

read / write gm2dl file into / out of a SparseOptimizer

Definition at line 42 of file gm2dl_io.h.

Member Function Documentation

readGm2dl()

bool g2o::Gm2dlIO::readGm2dl ( const std::string & filename, SparseOptimizer & optimizer, bool overrideCovariances = false )

static

Definition at line 46 of file gm2dl_io.cpp.

References g2o::OptimizableGraph::addEdge(), g2o::OptimizableGraph::addVertex(), g2o::SparseOptimizer::clear(), g2o::BaseVertex< D, T >::estimate(), g2o::SE2::fromVector(), ID_LASERPOSE, g2o::BaseEdge< D, E >::information(), g2o::SE2::inverse(), g2o::RawLaser::laserParams(), g2o::LaserParameters::laserPose, g2o::RobotLaser::read(), g2o::readLine(), g2o::BaseVertex< D, T >::setEstimate(), g2o::OptimizableGraph::Vertex::setId(), g2o::EdgeSE2SensorCalib::setMeasurement(), g2o::HyperGraph::DataContainer::setUserData(), g2o::HyperGraph::Edge::setVertex(), and g2o::OptimizableGraph::vertex().

Referenced by main().

readRobotLaser()

int g2o::Gm2dlIO::readRobotLaser ( const std::string & filename, DataQueue & queue )

static

Definition at line 252 of file gm2dl_io.cpp.

References g2o::DataQueue::add(), g2o::RobotLaser::read(), and g2o::readLine().

Referenced by main().

updateLaserData()

bool g2o::Gm2dlIO::updateLaserData ( SparseOptimizer & optimizer )

static

Definition at line 227 of file gm2dl_io.cpp.

References g2o::BaseVertex< D, T >::estimate(), g2o::HyperGraph::Vertex::id(), ID_LASERPOSE, g2o::RawLaser::laserParams(), g2o::LaserParameters::laserPose, g2o::RawLaser::setLaserParams(), g2o::RobotLaser::setOdomPose(), g2o::HyperGraph::DataContainer::userData(), g2o::OptimizableGraph::vertex(), and g2o::HyperGraph::vertices().

Referenced by main().

writeGm2dl()

bool g2o::Gm2dlIO::writeGm2dl ( const std::string & filename, const SparseOptimizer & optimizer )

static

Definition at line 167 of file gm2dl_io.cpp.

References g2o::HyperGraph::edges(), g2o::HyperGraph::Vertex::id(), g2o::BaseEdge< D, E >::information(), g2o::Factory::instance(), g2o::BaseEdge< D, E >::measurement(), g2o::Factory::tag(), g2o::SE2::toVector(), g2o::HyperGraph::DataContainer::userData(), g2o::HyperGraph::Edge::vertex(), g2o::HyperGraph::vertices(), g2o::HyperGraph::Data::write(), and g2o::OptimizableGraph::Vertex::write().

Referenced by main().

Member Data Documentation

ID_LASERPOSE

const int g2o::Gm2dlIO::ID_LASERPOSE = numeric_limits<int>::max()

static

the global ID we assign the laser pose vertex

Definition at line 47 of file gm2dl_io.h.

Referenced by main(), readGm2dl(), and updateLaserData().

ID_ODOMCALIB

const int g2o::Gm2dlIO::ID_ODOMCALIB = numeric_limits<int>::max() - 1

static

Definition at line 48 of file gm2dl_io.h.

Referenced by g2o::addOdometryCalibLinksDifferential(), and main().

---

The documentation for this class was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/examples/calibration_odom_laser/gm2dl_io.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/calibration_odom_laser/gm2dl_io.cpp