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Sampler initialized with noise argument

release/4.3a0
Binit Shah 2020-05-28 04:36:35 -04:00
parent 3a1653dd23
commit 537155dd05
1 changed files with 1 additions and 7 deletions
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8
gtsam/slam/dataset.cpp
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@ -546,13 +546,6 @@ BetweenFactorPose3s parse3DFactors(const string& filename,
ifstream is(filename.c_str()); ifstream is(filename.c_str());
if (!is) throw invalid_argument("parse3DFactors: can not find file " + filename); if (!is) throw invalid_argument("parse3DFactors: can not find file " + filename);
// If asked, create a sampler with random number generator
Sampler sampler;
if (corruptingNoise) {
sampler = Sampler(corruptingNoise);
}
std::vector<BetweenFactor<Pose3>::shared_ptr> factors; std::vector<BetweenFactor<Pose3>::shared_ptr> factors;
while (!is.eof()) { while (!is.eof()) {
char buf[LINESIZE]; char buf[LINESIZE];
@ -595,6 +588,7 @@ BetweenFactorPose3s parse3DFactors(const string& filename,
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam); SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
auto R12 = Rot3::Quaternion(qw, qx, qy, qz); auto R12 = Rot3::Quaternion(qw, qx, qy, qz);
if (corruptingNoise) { if (corruptingNoise) {
Sampler sampler(corruptingNoise);
R12 = R12.retract(sampler.sample()); R12 = R12.retract(sampler.sample());
} }