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release/4.3a0
Pablo Fernandez Alcantarilla 2013-10-20 02:20:07 +00:00
parent 598add118c
commit 8b68c71614
1 changed files with 6 additions and 6 deletions
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12
gtsam_unstable/examples/KITTItoBALConverter.cpp
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@ -200,15 +200,15 @@ int main(int argc, char** argv) {
unsigned int minimumNumViews = 1; unsigned int minimumNumViews = 1;
string HOME = getenv("HOME"); string HOME = getenv("HOME");
string input_dir = HOME + "/Research/datasets/kitti/loop_closures_merged/"; string input_dir = HOME + "/data/kitti/loop_closures_merged/";
string output_file = HOME + "/Research/datasets/kitti/loop_closures_merged/loop_closures_merged_bal.txt"; string output_file = HOME + "/data/kitti/loop_closures_merged/loop_closures_merged_bal.txt";
typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> ProjectionFactor; typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> ProjectionFactor;
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
// Load calibration // Load calibration
boost::shared_ptr<Cal3_S2> K = loadCalibration(input_dir+"calibration.txt"); boost::shared_ptr<Cal3_S2> K = loadCalibration(input_dir+"calibration.txt");
Cal3Bundler Kd(K->fx(),0,0,0,0); Cal3Bundler Kd(K->fx(),0,0,K->px(),K->py());
K->print("Calibration"); K->print("Calibration");
// Load values from VO camera poses output // Load values from VO camera poses output
@ -223,14 +223,14 @@ int main(int argc, char** argv) {
// Read in kitti dataset // Read in kitti dataset
ifstream fin; ifstream fin;
fin.open((input_dir+"sorted_contiguous_stereo_factors.txt").c_str()); fin.open((input_dir+"stereo_factors.txt").c_str());
if(!fin) { if(!fin) {
cerr << "Could not open sorted_contiguous_stereo_factors.txt" << endl; cerr << "Could not open stereo_factors.txt" << endl;
exit(1); exit(1);
} }
// Read all measurements tracked by VO stereo // Read all measurements tracked by VO stereo
cout << "Loading sorted_contiguous_stereo_factors.txt" << endl; cout << "Loading stereo_factors.txt" << endl;
Key r, l, currentLandmark = 0; Key r, l, currentLandmark = 0;
std::list<Key> allViews; std::list<Key> allViews;
std::vector<Key> views; std::vector<Key> views;