Re-exports§
pub use logger::init_logger;pub use utils::DatasetRegistry;pub use utils::ensure_ba_dataset;pub use utils::ensure_odometry_dataset;pub use bal::BalCamera;pub use bal::BalDataset;pub use bal::BalLoader;pub use bal::BalObservation;pub use bal::BalPoint;pub use g2o::G2oLoader;pub use toro::ToroLoader;
Modules§
- bal
- Bundle Adjustment in the Large (BAL) dataset loader.
- g2o
- logger
- Centralized logging configuration for apex-io binaries.
- rosbag
- ROS2 bag reading and writing (sqlite3 and MCAP formats).
- toro
- utils
- Dataset utilities — registry, download helpers, and on-demand ensure functions.
Structs§
- EdgeSE2
- 2D edge constraint between two SE2 vertices
- EdgeSE3
- 3D edge constraint between two SE3 vertices
- Graph
- Main graph structure containing vertices and edges
- VertexS
E2 - VertexS
E3 - SE3 vertex with ID (x, y, z, qx, qy, qz, qw)
Enums§
- IoError
- Errors that can occur during graph file parsing
Constants§
- BUNDLE_
ADJUSTMENT_ DATA_ DIR - Default directory for bundle adjustment datasets relative to the workspace root.
- ODOMETRY_
DATA_ DIR - Default base directory for odometry (pose graph) datasets relative to the workspace root.
- ODOMETRY_
DATA_ DIR_ 2D - Directory for 2D odometry datasets (
data/odometry/2d). - ODOMETRY_
DATA_ DIR_ 3D - Directory for 3D odometry datasets (
data/odometry/3d).
Traits§
- Graph
Loader - Trait for graph file loaders and writers
Functions§
- load_
graph - Convenience function to load any supported format based on file extension