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Use findExampleDataFile function to discover data file location

release/4.3a0
cbeall3 2014-06-12 16:23:41 -04:00
parent 12f19e8a7c
commit 140577406a
4 changed files with 9 additions and 9 deletions
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2
examples/Pose2SLAMExample_g2o.cpp
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@ -31,7 +31,7 @@ int main(const int argc, const char *argv[]) {
// Read graph from file // Read graph from file
string g2oFile; string g2oFile;
if (argc < 2) if (argc < 2)
g2oFile = "../../examples/Data/noisyToyGraph.txt"; g2oFile = findExampleDataFile("noisyToyGraph.txt");
else else
g2oFile = argv[1]; g2oFile = argv[1];

3
examples/Pose2SLAMExample_graph.cpp
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@ -32,7 +32,8 @@ int main (int argc, char** argv) {
NonlinearFactorGraph::shared_ptr graph; NonlinearFactorGraph::shared_ptr graph;
Values::shared_ptr initial; Values::shared_ptr initial;
SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0)); SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0));
boost::tie(graph, initial) = load2D("../../examples/Data/w100.graph", model); string graph_file = findExampleDataFile("w100.graph");
boost::tie(graph, initial) = load2D(graph_file, model);
initial->print("Initial estimate:\n"); initial->print("Initial estimate:\n");
// Add a Gaussian prior on first poses // Add a Gaussian prior on first poses

2
examples/Pose2SLAMExample_lago.cpp
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@ -32,7 +32,7 @@ int main(const int argc, const char *argv[]) {
// Read graph from file // Read graph from file
string g2oFile; string g2oFile;
if (argc < 2) if (argc < 2)
g2oFile = "../../examples/Data/noisyToyGraph.txt"; g2oFile = findExampleDataFile("noisyToyGraph.txt");
else else
g2oFile = argv[1]; g2oFile = argv[1];

11
examples/RangeISAMExample_plaza2.cpp
View File

@ -40,6 +40,7 @@
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
#include <gtsam/slam/dataset.h>
// Standard headers, added last, so we know headers above work on their own // Standard headers, added last, so we know headers above work on their own
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
@ -59,9 +60,8 @@ namespace NM = gtsam::noiseModel;
typedef pair<double, Pose2> TimedOdometry; typedef pair<double, Pose2> TimedOdometry;
list<TimedOdometry> readOdometry() { list<TimedOdometry> readOdometry() {
list<TimedOdometry> odometryList; list<TimedOdometry> odometryList;
ifstream is("../../examples/Data/Plaza2_DR.txt"); string data_file = findExampleDataFile("Plaza2_DR.txt");
if (!is) ifstream is(data_file.c_str());
throw runtime_error("../../examples/Data/Plaza2_DR.txt file not found");
while (is) { while (is) {
double t, distance_traveled, delta_heading; double t, distance_traveled, delta_heading;
@ -78,9 +78,8 @@ list<TimedOdometry> readOdometry() {
typedef boost::tuple<double, size_t, double> RangeTriple; typedef boost::tuple<double, size_t, double> RangeTriple;
vector<RangeTriple> readTriples() { vector<RangeTriple> readTriples() {
vector<RangeTriple> triples; vector<RangeTriple> triples;
ifstream is("../../examples/Data/Plaza2_TD.txt"); string data_file = findExampleDataFile("Plaza2_TD.txt");
if (!is) ifstream is(data_file.c_str());
throw runtime_error("../../examples/Data/Plaza2_TD.txt file not found");
while (is) { while (is) {
double t, sender, receiver, range; double t, sender, receiver, range;