12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Vector3

release/4.3a0
Frank Dellaert 2013-06-22 01:29:26 +00:00
parent 05f883f953
commit 456a16526e
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
examples/RangeISAMExample_plaza2.cpp
View File

@ -108,8 +108,8 @@ int main (int argc, char** argv) {
bool robust = true; bool robust = true;
// Set Noise parameters // Set Noise parameters
Vector priorSigmas = Vector_(3, 1.0, 1.0, M_PI); Vector priorSigmas = Vector3(1,1,M_PI);
Vector odoSigmas = Vector_(3, 0.05, 0.01, 0.2); Vector odoSigmas = Vector3(0.05, 0.01, 0.2);
double sigmaR = 100; // range standard deviation double sigmaR = 100; // range standard deviation
const NM::Base::shared_ptr // all same type const NM::Base::shared_ptr // all same type
priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior priorNoise = NM::Diagonal::Sigmas(priorSigmas), //prior
@ -129,13 +129,13 @@ int main (int argc, char** argv) {
Values initial; Values initial;
initial.insert(0, pose0); initial.insert(0, pose0);
// initialize points drawn from sigma=1 Gaussian in matlab version // initialize points
if (groundTruth) { // from TL file if (groundTruth) { // from TL file
initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778)); initial.insert(symbol('L', 1), Point2(-68.9265, 18.3778));
initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278)); initial.insert(symbol('L', 6), Point2(-37.5805, 69.2278));
initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678)); initial.insert(symbol('L', 0), Point2(-33.6205, 26.9678));
initial.insert(symbol('L', 5), Point2(1.7095, -5.8122)); initial.insert(symbol('L', 5), Point2(1.7095, -5.8122));
} else { } else { // drawn from sigma=1 Gaussian in matlab version
initial.insert(symbol('L', 1), Point2(3.5784, 2.76944)); initial.insert(symbol('L', 1), Point2(3.5784, 2.76944));
initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492)); initial.insert(symbol('L', 6), Point2(-1.34989, 3.03492));
initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549)); initial.insert(symbol('L', 0), Point2(0.725404, -0.0630549));