From 4491db99be6441ff3ff4a95b30bff8f0047af73a Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Sat, 23 Jan 2010 01:10:12 +0000 Subject: [PATCH] add beijing data set --- cpp/dataset.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cpp/dataset.cpp b/cpp/dataset.cpp index bc3fe5a99..5f4a5da4a 100644 --- a/cpp/dataset.cpp +++ b/cpp/dataset.cpp @@ -45,6 +45,7 @@ pair > dataset(const string& dataset, c if (set == "10K") return make_pair(path + "borg/toro/data/2D/w10000-odom.graph", identity); if (set == "olson") return make_pair(path + "data/iSAM/ISAM2/olson06icra.txt", null_model); if (set == "victoria") return make_pair(path + "data/iSAM/ISAM2/victoria_park.txt", null_model); + if (set == "beijing") return make_pair(path + "data/BeijingData/beijingData_trips.log", null_model); return make_pair("unknown", null_model); } @@ -113,7 +114,7 @@ pair load2D(const string& filename, // hack use diagonal for now ! //Vector variances = Vector_(3,m(1,1),m(2,2),m(3,3)); // UNITS in file ??? if (!model) { - Vector variances = Vector_(3,0.0001,0.0001,0.0003); + Vector variances = Vector_(3,m(1,1),m(2,2),m(3,3)); model = noiseModel::Diagonal::Variances(variances, smart); }