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Fixed loading of datasets

release/4.3a0
Frank Dellaert 2010-01-27 03:41:23 +00:00
parent ae073c0120
commit 98b825ddbd
1 changed files with 5 additions and 7 deletions
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12
cpp/dataset.cpp
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@ -91,7 +91,6 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
is.seekg(0, ios::beg); is.seekg(0, ios::beg);
// load the factors // load the factors
Pose2 measured;
while (is) { while (is) {
char buf[LINESIZE]; char buf[LINESIZE];
is.getline(buf, LINESIZE); is.getline(buf, LINESIZE);
@ -102,7 +101,7 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) { if ((tag == "EDGE2") || (tag == "EDGE") || (tag == "ODOMETRY")) {
int id1, id2; int id1, id2;
double x, y, yaw; double x, y, yaw;
ls >> id2 >> id1 >> x >> y >> yaw; ls >> id1 >> id2 >> x >> y >> yaw;
Matrix m = eye(3); Matrix m = eye(3);
ls >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); ls >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2);
@ -113,8 +112,7 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
// optional filter // optional filter
if (maxID && (id1 >= maxID || id2 >= maxID)) continue; if (maxID && (id1 >= maxID || id2 >= maxID)) continue;
Pose2 l1Xl2(x, y, yaw);
measured = inverse(Pose2(x, y, yaw));
// SharedGaussian noise = noiseModel::Gaussian::Covariance(m, smart); // SharedGaussian noise = noiseModel::Gaussian::Covariance(m, smart);
// hack use diagonal for now ! // hack use diagonal for now !
@ -125,13 +123,13 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
} }
if (addNoise) if (addNoise)
measured = expmap(measured,(*model)->sample()); l1Xl2 = expmap(l1Xl2,(*model)->sample());
// Insert vertices if pure odometry file // Insert vertices if pure odometry file
if (!poses->exists(id1)) poses->insert(id1, Pose2()); if (!poses->exists(id1)) poses->insert(id1, Pose2());
if (!poses->exists(id2)) poses->insert(id2, poses->at(id1) * measured); if (!poses->exists(id2)) poses->insert(id2, poses->at(id1) * l1Xl2);
Pose2Graph::sharedFactor factor(new Pose2Factor(id1, id2,measured,*model)); Pose2Graph::sharedFactor factor(new Pose2Factor(id1, id2, l1Xl2, *model));
graph->push_back(factor); graph->push_back(factor);
} }
} }