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Picked the winner

release/4.3a0
Frank Dellaert 2013-06-24 16:25:02 +00:00
parent 34db300802
commit 39910717d6
1 changed files with 9 additions and 3 deletions
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12
gtsam_unstable/slam/SmartRangeFactor.h
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@ -105,11 +105,17 @@ public:
} }
// use best fh to find actual intersection points // use best fh to find actual intersection points
std::list<Point2> solutions = Point2::CircleCircleIntersection( std::list<Point2> intersections = Point2::CircleCircleIntersection(
circle1.center, best_circle->center, best_fh); circle1.center, best_circle->center, best_fh);
// pick winner based on other measurement // pick winner based on other measurements
return solutions.front(); double error1 = 0, error2 = 0;
Point2 p1 = intersections.front(), p2 = intersections.back();
BOOST_FOREACH(const Circle2& it, circles) {
error1 += it.center.dist(p1);
error2 += it.center.dist(p2);
}
return (error1 < error2) ? p1 : p2;
} }
/** /**