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Fixed inconsistency between odometry measurements and initializations

release/4.3a0
Stephen Williams 2013-04-12 12:51:22 +00:00
parent 5087e4eabc
commit 1c738123b9
1 changed files with 3 additions and 8 deletions
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11
gtsam_unstable/examples/FixedLagSmootherExample.cpp
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@ -100,22 +100,17 @@ int main(int argc, char** argv) {
newValues.insert(currentKey, currentPose); newValues.insert(currentKey, currentPose);
// Add odometry factors from two different sources with different error stats // Add odometry factors from two different sources with different error stats
Pose2 odometryMeasurement1 = Pose2(2.32, -0.18, 0.02); Pose2 odometryMeasurement1 = Pose2(0.61, -0.08, 0.02);
noiseModel::Diagonal::shared_ptr odometryNoise1 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); noiseModel::Diagonal::shared_ptr odometryNoise1 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.1, 0.05));
newFactors.add(BetweenFactor<Pose2>(previousKey, currentKey, odometryMeasurement1, odometryNoise1)); newFactors.add(BetweenFactor<Pose2>(previousKey, currentKey, odometryMeasurement1, odometryNoise1));
Pose2 odometryMeasurement2 = Pose2(1.95, 0.07, 0.01); Pose2 odometryMeasurement2 = Pose2(0.47, 0.03, 0.01);
noiseModel::Diagonal::shared_ptr odometryNoise2 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 0.05)); noiseModel::Diagonal::shared_ptr odometryNoise2 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.05, 0.05, 0.05));
newFactors.add(BetweenFactor<Pose2>(previousKey, currentKey, odometryMeasurement2, odometryNoise2)); newFactors.add(BetweenFactor<Pose2>(previousKey, currentKey, odometryMeasurement2, odometryNoise2));
// Update the smoothers with the new factors // Update the smoothers with the new factors
smootherBatch.update(newFactors, newValues, newTimestamps); smootherBatch.update(newFactors, newValues, newTimestamps);
smootherISAM2.update(newFactors, newValues, newTimestamps); smootherISAM2.update(newFactors, newValues, newTimestamps);
// The iSAM2 algorithm only performs one optimization iteration per call to update.
// To get equivalent results to the full batch optimization each time, we need to call update multiple times
for(size_t i = 0; i < 10; ++i) {
smootherISAM2.update();
}
// Print the optimized current pose // Print the optimized current pose
cout << setprecision(5) << "Timestamp = " << time << endl; cout << setprecision(5) << "Timestamp = " << time << endl;