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Added some xml test files

release/4.3a0
Frank Dellaert 2019-04-06 22:53:08 -04:00
parent 3889b29305
commit 18d26d12af
3 changed files with 3584 additions and 0 deletions
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3414
examples/Data/randomGrid3D.xml Normal file
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169
examples/Data/toy3D.xml Normal file
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@ -0,0 +1,169 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<!DOCTYPE boost_serialization>
<boost_serialization signature="serialization::archive" version="17">
<graph class_id="0" tracking_level="0" version="0">
<Base class_id="1" tracking_level="0" version="0">
<factors_ class_id="2" tracking_level="0" version="0">
<count>2</count>
<item_version>1</item_version>
<item class_id="3" tracking_level="0" version="1">
<px class_id="4" class_name="JacobianFactor" tracking_level="1" version="0" object_id="_0">
<Base class_id="5" tracking_level="0" version="0">
<Base class_id="6" tracking_level="0" version="0">
<keys_>
<count>2</count>
<item_version>0</item_version>
<item>0</item>
<item>1</item>
</keys_>
</Base>
</Base>
<Ab_ class_id="8" tracking_level="0" version="0">
<matrix_ class_id="9" tracking_level="0" version="0">
<rows>9</rows>
<cols>7</cols>
<data>
<item>1.22427709071730959e+01</item>
<item>1.51514613104920048e+01</item>
<item>3.60934366857813060e+00</item>
<item>-1.18407259026383116e+01</item>
<item>7.84826117220921216e+00</item>
<item>1.23509165494819051e+01</item>
<item>-6.09875015991639735e+00</item>
<item>6.16547190708139126e-01</item>
<item>3.94972084922329048e+00</item>
<item>-4.89208482920378174e+00</item>
<item>3.02091647632478866e+00</item>
<item>-8.95328692238917512e+00</item>
<item>7.89831607220345955e+00</item>
<item>-2.36793602009719084e+00</item>
<item>1.48517612051941725e+01</item>
<item>-3.97284286249233731e-01</item>
<item>-1.95744531643153863e+01</item>
<item>-3.85954855417462017e+00</item>
<item>4.79268277145419042e+00</item>
<item>-9.01707953629520453e+00</item>
<item>1.37848069005841385e+01</item>
<item>1.04829326688375950e+01</item>
<item>-5.00630568442241675e+00</item>
<item>4.70463561852773182e+00</item>
<item>-1.59179134598689274e+01</item>
<item>-2.04767784956723942e+00</item>
<item>9.54135497908261954e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>-0.00000000000000000e+00</item>
<item>-1.76201757312015372e+00</item>
<item>1.98634190821282672e+01</item>
<item>1.52966546661624236e+00</item>
<item>1.94817649567575373e+01</item>
<item>1.39684693294110307e+00</item>
<item>4.30228460420588288e+00</item>
<item>1.76201757312015372e+00</item>
<item>-1.98634190821282672e+01</item>
<item>-1.52966546661624236e+00</item>
<item>-0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>4.16606867942304948e+00</item>
<item>1.86906420801308037e+00</item>
<item>-1.94717865319198360e+01</item>
<item>-1.94817649567575373e+01</item>
<item>-1.39684693294110307e+00</item>
<item>-4.30228460420588288e+00</item>
<item>-4.16606867942304948e+00</item>
<item>-1.86906420801308037e+00</item>
<item>1.94717865319198360e+01</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00891462904330531e+01</item>
<item>-1.08132497987816869e+01</item>
<item>8.66487736568128497e+00</item>
<item>2.88370015604634311e+01</item>
<item>1.89391698948574643e+01</item>
<item>2.12398960190661290e+00</item>
<item>1.22150946112124039e+01</item>
<item>-2.33658532501596561e+01</item>
<item>1.51576204760307363e+01</item>
</data>
</matrix_>
<variableColOffsets_>
<count>4</count>
<item_version>0</item_version>
<item>0</item>
<item>3</item>
<item>6</item>
<item>7</item>
</variableColOffsets_>
<rowStart_>0</rowStart_>
<rowEnd_>9</rowEnd_>
<blockStart_>0</blockStart_>
</Ab_>
<model_ class_id="11" tracking_level="0" version="1">
<px class_id="-1"></px>
</model_>
</px>
</item>
<item>
<px class_id_reference="4" object_id="_1">
<Base>
<Base>
<keys_>
<count>2</count>
<item_version>0</item_version>
<item>0</item>
<item>1</item>
</keys_>
</Base>
</Base>
<Ab_>
<matrix_>
<rows>3</rows>
<cols>7</cols>
<data>
<item>1.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>1.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
<item>0.00000000000000000e+00</item>
</data>
</matrix_>
<variableColOffsets_>
<count>4</count>
<item_version>0</item_version>
<item>0</item>
<item>3</item>
<item>6</item>
<item>7</item>
</variableColOffsets_>
<rowStart_>0</rowStart_>
<rowEnd_>3</rowEnd_>
<blockStart_>0</blockStart_>
</Ab_>
<model_>
<px class_id="-1"></px>
</model_>
</px>
</item>
</factors_>
</Base>
</graph>
</boost_serialization>

1
gtsam/slam/dataset.cpp
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@ -66,6 +66,7 @@ string findExampleDataFile(const string& name) {
namesToSearch.push_back(name + ".graph");
namesToSearch.push_back(name + ".txt");
namesToSearch.push_back(name + ".out");
namesToSearch.push_back(name + ".xml");
// Find first name that exists
for(const fs::path& root: rootsToSearch) {