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Adjusted sigma

release/4.3a0
Richard Roberts 2013-08-09 19:03:38 +00:00
parent 7f5de1c3bc
commit 2f84788c2a
1 changed files with 1 additions and 1 deletions
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2
matlab/gtsam_examples/IMUKittiExampleSimple.m
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@ -51,7 +51,7 @@ newValues.insert(symbol('b',1), currentBias);
sigma_init_x = noiseModel.Diagonal.Precisions([0;0;0; 1;1;1]); sigma_init_x = noiseModel.Diagonal.Precisions([0;0;0; 1;1;1]);
sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0); sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
sigma_init_b = noiseModel.Isotropic.Sigma(6, 100000.0); sigma_init_b = noiseModel.Isotropic.Sigma(6, 0.01);
newFactors.add(PriorFactorPose3(symbol('x',firstGPSPose), currentPoseGlobal, sigma_init_x)); newFactors.add(PriorFactorPose3(symbol('x',firstGPSPose), currentPoseGlobal, sigma_init_x));
newFactors.add(PriorFactorLieVector(symbol('v',firstGPSPose), currentVelocityGlobal, sigma_init_v)); newFactors.add(PriorFactorLieVector(symbol('v',firstGPSPose), currentVelocityGlobal, sigma_init_v));