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Fix some unstable MATLAB examples

release/4.3a0
Fan Jiang 2020-08-17 19:20:47 -04:00
parent 28fc35af3c
commit 0901237ec0
3 changed files with 6 additions and 5 deletions
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2
matlab/unstable_examples/TransformProjectionFactorExample.m
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@ -33,7 +33,7 @@ y_shift = Point3(0,1,0);
% insert shifted points % insert shifted points
for i=1:nrPoints for i=1:nrPoints
initial.insert(100+i,landmarks{i}.compose(y_shift)); initial.insert(100+i,landmarks{i} + y_shift);
end end
figure(1); figure(1);

5
matlab/unstable_examples/TransformProjectionFactorExampleISAM.m
View File

@ -47,7 +47,7 @@ y_shift = Point3(0,1,0);
% insert shifted points % insert shifted points
for i=1:nrPoints for i=1:nrPoints
initial.insert(100+i,landmarks{i}.compose(y_shift)); initial.insert(100+i,landmarks{i} + y_shift);
end end
figure(1); figure(1);
@ -146,7 +146,8 @@ for i=1:20
plotPoint3(result.atPoint3(l),'g'); plotPoint3(result.atPoint3(l),'g');
end end
ty = result.atPose3(1000).translation().y(); t = result.atPose3(1000).translation();
ty = t(2);
text(5,5,5,sprintf('Y-Transform: %0.2g',ty)); text(5,5,5,sprintf('Y-Transform: %0.2g',ty));
if(write_video) if(write_video)

4
matlab/unstable_examples/testTSAMFactors.m
View File

@ -50,8 +50,8 @@ result = optimizer.optimize();
% Check result % Check result
CHECK('error',result.atPose2(100).equals(b1,1e-5)) CHECK('error',result.atPose2(100).equals(b1,1e-5))
CHECK('error',result.atPose2(10).equals(origin,1e-5)) CHECK('error',result.atPose2(10).equals(origin,1e-5))
CHECK('error',result.atPoint2(1).equals(Point2(0,1),1e-5)) CHECK('error',result.atPoint2(1) - Point2(0,1) < 1e-5)
CHECK('error',result.atPoint2(2).equals(Point2(0,1),1e-5)) CHECK('error',result.atPoint2(2) - Point2(0,1) < 1e-5)
CHECK('error',result.atPose2(20).equals(origin,1e-5)) CHECK('error',result.atPose2(20).equals(origin,1e-5))
CHECK('error',result.atPose2(200).equals(b2,1e-5)) CHECK('error',result.atPose2(200).equals(b2,1e-5))