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renamed StereoVO data files

release/4.3a0
Chris Beall 2012-06-14 04:51:42 +00:00
parent 984032e29e
commit 642e180ff7
3 changed files with 2 additions and 2 deletions
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0
examples/Data/VO_camera_poses.txt → examples/Data/VO_camera_poses_large.txt
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0
examples/Data/VO_stereo_factors.txt → examples/Data/VO_stereo_factors_large.txt
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4
matlab/examples/StereoVOExample_large.m
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@ -24,7 +24,7 @@ initial = visualSLAMValues;
%% load the initial poses from VO %% load the initial poses from VO
% row format: camera_id 4x4 pose (row, major) % row format: camera_id 4x4 pose (row, major)
fprintf(1,'Reading data\n'); fprintf(1,'Reading data\n');
cameras = dlmread('../../examples/Data/VO_camera_poses.txt'); cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt');
for i=1:size(cameras,1) for i=1:size(cameras,1)
pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); pose = gtsamPose3(reshape(cameras(i,2:17),4,4)');
initial.insertPose(symbol('x',cameras(i,1)),pose); initial.insertPose(symbol('x',cameras(i,1)),pose);
@ -32,7 +32,7 @@ end
%% load stereo measurements and initialize landmarks %% load stereo measurements and initialize landmarks
% camera_id landmark_id uL uR v X Y Z % camera_id landmark_id uL uR v X Y Z
measurements = dlmread('../../examples/Data/VO_stereo_factors.txt'); measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt');
fprintf(1,'Creating Graph\n'); tic fprintf(1,'Creating Graph\n'); tic
for i=1:size(measurements,1) for i=1:size(measurements,1)