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proper covariance for 10K2 dataset

release/4.3a0
Kai Ni 2010-07-15 04:41:17 +00:00
parent d73ae62d78
commit 89061cd953
1 changed files with 2 additions and 1 deletions
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3
slam/dataset.cpp
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@ -55,7 +55,8 @@ pair<string, boost::optional<SharedDiagonal> > dataset(const string& dataset, c
if (set == "3") return make_pair(path + "borg/CitySLAM/data/TORO/w3-odom.graph", identity); 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 == "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 == "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 == "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 == "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); if (set == "olson") return make_pair(path + "borg/CitySLAM/data/Olson/olson06icra.graph", null_model);