Merge branch 'fix/iSAM2' into fix/GenericValue-assignment
Added extra update so converges faster, and matches test in Issue #412 Conflicts: tests/testVisualISAM2.cpprelease/4.3a0
						commit
						70f428fed1
					
				|  | @ -39,9 +39,8 @@ TEST(testVisualISAM2, all) | |||
| 
 | ||||
|     auto measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); | ||||
| 
 | ||||
|     // Create ground truth data
 | ||||
|     vector<Point3> points = createPoints(); | ||||
| 
 | ||||
|     // Create the set of ground-truth poses
 | ||||
|     vector<Pose3> poses = createPoses(); | ||||
| 
 | ||||
|     // Set the parameters
 | ||||
|  | @ -98,6 +97,9 @@ TEST(testVisualISAM2, all) | |||
|             // Update iSAM with the new factors
 | ||||
|             isam.update(graph, initialEstimate); | ||||
| 
 | ||||
|             // Do an extra update to converge withing these 8 iterations
 | ||||
|             isam.update(); | ||||
| 
 | ||||
|             // Optimize
 | ||||
|             Values currentEstimate = isam.calculateEstimate(); | ||||
| 
 | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue