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Changed the paths for datasets to avoid using CitySLAM or hogman in default paths - the default is now HOME/data

release/4.3a0
Alex Cunningham 2011-06-03 21:48:42 +00:00
parent c44315fec8
commit 1c6901a564
1 changed files with 15 additions and 17 deletions
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32
gtsam/slam/dataset.cpp
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@ -43,26 +43,24 @@ pair<string, boost::optional<SharedDiagonal> > dataset(const string& dataset, c
boost::optional<SharedDiagonal> small(noiseModel::Diagonal::Variances(
gtsam::Vector_(3, 0.0001, 0.0001, 0.0003)));
if (path.empty()) path = string(getenv("HOME")) + "/";
if (path.empty()) path = string(getenv("HOME")) + "/data";
if (set.empty()) set = string(getenv("DATASET"));
if (set == "intel") return make_pair(path + "borg/CitySLAM/data/Intel/intel.graph", null_model);
if (set == "intel-gfs") return make_pair(path + "borg/CitySLAM/data/Intel/intel.gfs.graph", null_model);
if (set == "Killian-gfs") return make_pair(path + "borg/CitySLAM/data/Killian/Killian.gfs.graph", null_model);
if (set == "Killian") return make_pair(path + "borg/CitySLAM/data/Killian/Killian.graph", small);
if (set == "Killian-noised") return make_pair(path + "borg/CitySLAM/data/Killian/Killian-noised.graph", null_model);
if (set == "3") return make_pair(path + "borg/CitySLAM/data/TORO/w3-odom.graph", identity);
if (set == "100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-odom.graph", identity);
if (set == "10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-odom.graph", identity);
if (set == "10K2") return make_pair(path + "borg/hogman/data/2D/w10000.graph",
if (set == "intel") return make_pair(path + "/Intel/intel.graph", null_model);
if (set == "intel-gfs") return make_pair(path + "/Intel/intel.gfs.graph", null_model);
if (set == "Killian-gfs") return make_pair(path + "/Killian/Killian.gfs.graph", null_model);
if (set == "Killian") return make_pair(path + "/Killian/Killian.graph", small);
if (set == "Killian-noised") return make_pair(path + "/Killian/Killian-noised.graph", null_model);
if (set == "3") return make_pair(path + "/TORO/w3-odom.graph", identity);
if (set == "100") return make_pair(path + "/TORO/w100-odom.graph", identity);
if (set == "10K") return make_pair(path + "/TORO/w10000-odom.graph", identity);
if (set == "10K2") return make_pair(path + "/hogman/data/2D/w10000.graph",
noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05)));
if (set == "Eiffel100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-Eiffel.graph", identity);
if (set == "Eiffel10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-Eiffel.graph", identity);
if (set == "olson") return make_pair(path + "borg/CitySLAM/data/Olson/olson06icra.graph", null_model);
if (set == "victoria") return make_pair(path + "borg/CitySLAM/data/VictoriaPark/victoria_park.graph", null_model);
if (set == "beijing") return make_pair(path + "borg/CitySLAM/data/Beijing/beijingData_trips.graph", null_model);
if (set == "Eiffel100") return make_pair(path + "/TORO/w100-Eiffel.graph", identity);
if (set == "Eiffel10K") return make_pair(path + "/TORO/w10000-Eiffel.graph", identity);
if (set == "olson") return make_pair(path + "/Olson/olson06icra.graph", null_model);
if (set == "victoria") return make_pair(path + "/VictoriaPark/victoria_park.graph", null_model);
if (set == "beijing") return make_pair(path + "/Beijing/beijingData_trips.graph", null_model);
return make_pair("unknown", null_model);
}