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release/4.3a0
Viorela Ila 2010-02-26 22:23:00 +00:00
parent 9941b28128
commit b6599ebdce
1 changed files with 3 additions and 1 deletions
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4
cpp/dataset.cpp
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@ -46,6 +46,9 @@ pair<string, boost::optional<SharedDiagonal> > dataset(const string& dataset, c
if (set == "olson") return make_pair(path + "data/iSAM/ISAM2/olson06icra.txt", null_model); if (set == "olson") return make_pair(path + "data/iSAM/ISAM2/olson06icra.txt", null_model);
if (set == "victoria") return make_pair(path + "data/iSAM/ISAM2/victoria_park.txt", null_model); if (set == "victoria") return make_pair(path + "data/iSAM/ISAM2/victoria_park.txt", null_model);
if (set == "beijing") return make_pair(path + "data/BeijingData/beijingData_trips.log", null_model); if (set == "beijing") return make_pair(path + "data/BeijingData/beijingData_trips.log", null_model);
if (set == "10K_tree") return make_pair(path + "borg/CitySLAM/data/10k.tree", identity);
if (set == "10K_cnstr") return make_pair(path + "borg/CitySLAM/data/10k.cnstr", identity);
return make_pair("unknown", null_model); return make_pair("unknown", null_model);
} }
@ -97,7 +100,6 @@ pair<sharedPose2Graph, sharedPose2Config> load2D(const string& filename,
int id1, id2; int id1, id2;
double x, y, yaw; double x, y, yaw;
is >> id1 >> id2 >> x >> y >> yaw; is >> id1 >> id2 >> x >> y >> yaw;
Matrix m = eye(3); Matrix m = eye(3);
is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2); is >> m(0, 0) >> m(0, 1) >> m(1, 1) >> m(2, 2) >> m(0, 2) >> m(1, 2);
m(2, 0) = m(0, 2); m(2, 0) = m(0, 2);