From 004ec887a1a7354f32909580a3bc6e2d8e6e2f21 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 13 Aug 2013 21:04:01 +0000 Subject: [PATCH] Committing correct dataset files for Kitti IMU example --- examples/Data/KittiGps.txt | 468 -------------------- examples/Data/KittiGps_converted.txt | 471 +++++++++++++++++++++ examples/Data/KittiGps_metadata.txt | 2 - matlab/gtsam_examples/IMUKittiExampleGPS.m | 6 +- 4 files changed, 472 insertions(+), 475 deletions(-) delete mode 100644 examples/Data/KittiGps.txt create mode 100644 examples/Data/KittiGps_converted.txt delete mode 100644 examples/Data/KittiGps_metadata.txt diff --git a/examples/Data/KittiGps.txt b/examples/Data/KittiGps.txt deleted file mode 100644 index 98ecb0c52..000000000 --- a/examples/Data/KittiGps.txt +++ /dev/null @@ -1,468 +0,0 @@ -Time Latitude Longitude Altitude PositionSigma -46534.47837579 48.982530923568 8.3903459539796 116.43446350098 0.072138755187486 -46536.397971133 48.982637737646 8.3904395756801 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file mode 100644 index df2dc2911..000000000 --- a/examples/Data/KittiGps_metadata.txt +++ /dev/null @@ -1,2 +0,0 @@ -BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz UpdatePeriod --0.0147725597895258 7.22876903268996e-006 -1.49304056640669e-005 -0.809818318663195 0.32628214806349 -0.797376731139142 1 diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m index 6037ffa64..e205d918c 100644 --- a/matlab/gtsam_examples/IMUKittiExampleGPS.m +++ b/matlab/gtsam_examples/IMUKittiExampleGPS.m @@ -12,10 +12,6 @@ if ~IMUinBody.equals(Pose3, 1e-5) error 'Currently only support IMUinBody is identity, i.e. IMU and body frame are the same'; end -% GPS metadata -GPS_metadata = importdata(findExampleDataFile('KittiRelativePose_metadata.txt')); -GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2); - %% Read data disp('-- Reading sensor data from file') % IMU data @@ -26,7 +22,7 @@ imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_da clear imum % GPS data -GPS_data = importdata(findExampleDataFile('Gps_converted.txt')); +GPS_data = importdata(findExampleDataFile('KittiGps_converted.txt')); GPS_data = cell2struct(num2cell(GPS_data.data), GPS_data.colheaders, 2); for i = 1:numel(GPS_data) GPS_data(i).Position = gtsam.Point3(GPS_data(i).X, GPS_data(i).Y, GPS_data(i).Z);