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Merge branch 'fix/iSAM2' into fix/GenericValue-assignment 

Added extra update so converges faster, and matches test in Issue #412

Conflicts:
	tests/testVisualISAM2.cpp
release/4.3a0
dellaert 2018-12-18 14:40:33 -05:00
parent ab0fb0d4a5 77f3a9195c
commit 70f428fed1
1 changed files with 4 additions and 2 deletions
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6
tests/testVisualISAM2.cpp
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@ -39,9 +39,8 @@ TEST(testVisualISAM2, all)
auto measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0); auto measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
// Create ground truth data
vector<Point3> points = createPoints(); vector<Point3> points = createPoints();
// Create the set of ground-truth poses
vector<Pose3> poses = createPoses(); vector<Pose3> poses = createPoses();
// Set the parameters // Set the parameters
@ -98,6 +97,9 @@ TEST(testVisualISAM2, all)
// Update iSAM with the new factors // Update iSAM with the new factors
isam.update(graph, initialEstimate); isam.update(graph, initialEstimate);
// Do an extra update to converge withing these 8 iterations
isam.update();
// Optimize // Optimize
Values currentEstimate = isam.calculateEstimate(); Values currentEstimate = isam.calculateEstimate();