From 1c6901a5644abc84eb5b28f2d6d4ec40669acb48 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Fri, 3 Jun 2011 21:48:42 +0000 Subject: [PATCH] Changed the paths for datasets to avoid using CitySLAM or hogman in default paths - the default is now HOME/data --- gtsam/slam/dataset.cpp | 32 +++++++++++++++----------------- 1 file changed, 15 insertions(+), 17 deletions(-) diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp index ca211a063..087d7d5e5 100644 --- a/gtsam/slam/dataset.cpp +++ b/gtsam/slam/dataset.cpp @@ -43,26 +43,24 @@ pair > dataset(const string& dataset, c boost::optional 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); }