From efac05956191dc1daf758b2aca41fda21331eb10 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 13 Aug 2013 21:04:40 +0000 Subject: [PATCH] Fixed dataset search in IMUKittiExampleGPS --- matlab/gtsam_examples/IMUKittiExampleGPS.m | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/matlab/gtsam_examples/IMUKittiExampleGPS.m b/matlab/gtsam_examples/IMUKittiExampleGPS.m index 49f01befe..6037ffa64 100644 --- a/matlab/gtsam_examples/IMUKittiExampleGPS.m +++ b/matlab/gtsam_examples/IMUKittiExampleGPS.m @@ -1,13 +1,10 @@ -close all -clc - import gtsam.*; disp('Example of application of ISAM2 for GPS-aided navigation on the KITTI VISION BENCHMARK SUITE (http://www.computervisiononline.com/dataset/kitti-vision-benchmark-suite)') %% Read metadata and compute relative sensor pose transforms % IMU metadata disp('-- Reading sensor metadata') -IMU_metadata = importdata('KittiEquivBiasedImu_metadata.txt'); +IMU_metadata = importdata(findExampleDataFile('KittiEquivBiasedImu_metadata.txt')); IMU_metadata = cell2struct(num2cell(IMU_metadata.data), IMU_metadata.colheaders, 2); IMUinBody = Pose3.Expmap([IMU_metadata.BodyPtx; IMU_metadata.BodyPty; IMU_metadata.BodyPtz; IMU_metadata.BodyPrx; IMU_metadata.BodyPry; IMU_metadata.BodyPrz; ]); @@ -16,20 +13,20 @@ if ~IMUinBody.equals(Pose3, 1e-5) end % GPS metadata -GPS_metadata = importdata('KittiRelativePose_metadata.txt'); +GPS_metadata = importdata(findExampleDataFile('KittiRelativePose_metadata.txt')); GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2); %% Read data disp('-- Reading sensor data from file') % IMU data -IMU_data = importdata('KittiEquivBiasedImu.txt'); +IMU_data = importdata(findExampleDataFile('KittiEquivBiasedImu.txt')); IMU_data = cell2struct(num2cell(IMU_data.data), IMU_data.colheaders, 2); imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_data.accelZ]' [IMU_data.omegaX]' [IMU_data.omegaY]' [IMU_data.omegaZ]' ], 2), 'UniformOutput', false); [IMU_data.acc_omega] = deal(imum{:}); clear imum % GPS data -GPS_data = importdata('Gps_converted.txt'); +GPS_data = importdata(findExampleDataFile('Gps_converted.txt')); GPS_data = cell2struct(num2cell(GPS_data.data), GPS_data.colheaders, 2); for i = 1:numel(GPS_data) GPS_data(i).Position = gtsam.Point3(GPS_data(i).X, GPS_data(i).Y, GPS_data(i).Z);