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Merged in enriquefernandezperdomo/gtsam/fix_load2D_modelInFile (pull request #179) 

Fix use model in file, in load2D
release/4.3a0
Chris Beall 2015-08-11 21:17:37 -04:00
parent ef94ef35ee fdacba92c5
commit 2146eb1b45
1 changed files with 2 additions and 1 deletions
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3
gtsam/slam/dataset.cpp
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@ -247,6 +247,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID,
// Parse the pose constraints // Parse the pose constraints
Key id1, id2; Key id1, id2;
bool haveLandmark = false; bool haveLandmark = false;
const bool useModelInFile = !model;
while (!is.eof()) { while (!is.eof()) {
if (!(is >> tag)) if (!(is >> tag))
break; break;
@ -267,7 +268,7 @@ GraphAndValues load2D(const string& filename, SharedNoiseModel model, Key maxID,
if (maxID && (id1 >= maxID || id2 >= maxID)) if (maxID && (id1 >= maxID || id2 >= maxID))
continue; continue;
if (!model) if (useModelInFile)
model = modelInFile; model = modelInFile;
if (addNoise) if (addNoise)