From 0c349f7805af37a034927653078d7c3aea8fe3a0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 18 Feb 2025 11:45:13 -0500 Subject: [PATCH] update noise model so we don't get ILS --- python/gtsam/examples/HybridCity10000.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/gtsam/examples/HybridCity10000.py b/python/gtsam/examples/HybridCity10000.py index e4f9b0b7d..d52b86c3e 100644 --- a/python/gtsam/examples/HybridCity10000.py +++ b/python/gtsam/examples/HybridCity10000.py @@ -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()