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update noise model so we don't get ILS

release/4.3a0
Varun Agrawal 2025-02-18 11:45:13 -05:00
parent 82e2c4f80e
commit 0c349f7805
1 changed files with 1 additions and 1 deletions
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python/gtsam/examples/HybridCity10000.py
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@ -64,7 +64,7 @@ prior_noise_model = gtsam.noiseModel.Diagonal.Sigmas(
np.asarray([0.0001, 0.0001, 0.0001]))
pose_noise_model = gtsam.noiseModel.Diagonal.Sigmas(
np.asarray([1.0 / 30.0, 1.0 / 30.0, 1.0 / 100.0]))
np.asarray([1.0 / 20.0, 1.0 / 20.0, 1.0 / 100.0]))
pose_noise_constant = pose_noise_model.negLogConstant()