From 89061cd9537c1e3cab82323dfb4b1f622cf4f8d1 Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Thu, 15 Jul 2010 04:41:17 +0000 Subject: [PATCH] proper covariance for 10K2 dataset --- slam/dataset.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/slam/dataset.cpp b/slam/dataset.cpp index 9256453ea..6041abe2f 100644 --- a/slam/dataset.cpp +++ b/slam/dataset.cpp @@ -55,7 +55,8 @@ pair > dataset(const string& dataset, c if (set == "3") return make_pair(path + "borg/CitySLAM/data/TORO/w3-odom.graph", identity); if (set == "100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-odom.graph", identity); if (set == "10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-odom.graph", identity); - if (set == "10K2") return make_pair(path + "borg/hogman/data/2D/w10000.graph", identity); + if (set == "10K2") return make_pair(path + "borg/hogman/data/2D/w10000.graph", + noiseModel::Diagonal::Variances(gtsam::Vector_(3, 0.1, 0.1, 0.05))); if (set == "Eiffel100") return make_pair(path + "borg/CitySLAM/data/TORO/w100-Eiffel.graph", identity); if (set == "Eiffel10K") return make_pair(path + "borg/CitySLAM/data/TORO/w10000-Eiffel.graph", identity); if (set == "olson") return make_pair(path + "borg/CitySLAM/data/Olson/olson06icra.graph", null_model);