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Using optional sampler outside loop

release/4.3a0
Binit Shah 2020-05-30 17:35:22 -04:00
parent 537155dd05
commit 5556db5420
1 changed files with 8 additions and 3 deletions
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11
gtsam/slam/dataset.cpp
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@ -37,6 +37,7 @@
#include <boost/assign/list_inserter.hpp>
#include <boost/filesystem/operations.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/optional.hpp>
#include <cmath>
#include <fstream>
@ -546,6 +547,11 @@ BetweenFactorPose3s parse3DFactors(const string& filename,
ifstream is(filename.c_str());
if (!is) throw invalid_argument("parse3DFactors: can not find file " + filename);
boost::optional<Sampler> sampler;
if (corruptingNoise) {
sampler = Sampler(corruptingNoise);
}
std::vector<BetweenFactor<Pose3>::shared_ptr> factors;
while (!is.eof()) {
char buf[LINESIZE];
@ -587,9 +593,8 @@ BetweenFactorPose3s parse3DFactors(const string& filename,
SharedNoiseModel model = noiseModel::Gaussian::Information(mgtsam);
auto R12 = Rot3::Quaternion(qw, qx, qy, qz);
if (corruptingNoise) {
Sampler sampler(corruptingNoise);
R12 = R12.retract(sampler.sample());
if (sampler) {
R12 = R12.retract(sampler->sample());
}
factors.emplace_back(new BetweenFactor<Pose3>(