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add beijing data set

release/4.3a0
Kai Ni 2010-01-23 01:10:12 +00:00
parent 7644ff0080
commit 4491db99be
1 changed files with 2 additions and 1 deletions
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3
cpp/dataset.cpp
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@ -45,6 +45,7 @@ pair<string, boost::optional<SharedDiagonal> > dataset(const string& dataset, c
if (set == "10K") return make_pair(path + "borg/toro/data/2D/w10000-odom.graph", identity); 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 == "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 == "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); return make_pair("unknown", null_model);
} }
@ -113,7 +114,7 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
// hack use diagonal for now ! // hack use diagonal for now !
//Vector variances = Vector_(3,m(1,1),m(2,2),m(3,3)); // UNITS in file ??? //Vector variances = Vector_(3,m(1,1),m(2,2),m(3,3)); // UNITS in file ???
if (!model) { 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); model = noiseModel::Diagonal::Variances(variances, smart);
} }