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fix initialization

release/4.3a0
Varun Agrawal 2025-02-06 16:58:49 -05:00
parent d511779f40
commit 7f8796c223
1 changed files with 9 additions and 8 deletions
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17
examples/ISAM2_City10000.cpp
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@ -53,19 +53,20 @@ class Experiment {
const bool isWithAmbiguity = false;
private:
ISAM2Params parameters;
parameters.optimizationParams = gtsam::ISAM2GaussNewtonParams(0.0);
parameters.relinearizeThreshold = 0.01;
parameters.relinearizeSkip = 1;
ISAM2 isam2_(parameters);
ISAM2 isam2_;
NonlinearFactorGraph graph_;
Values initial_;
Values results;
public:
/// Construct with filename of experiment to run
explicit Experiment(const std::string& filename) : dataset_(filename) {}
explicit Experiment(const std::string& filename) : dataset_(filename) {
ISAM2Params parameters;
parameters.optimizationParams = gtsam::ISAM2GaussNewtonParams(0.0);
parameters.relinearizeThreshold = 0.01;
parameters.relinearizeSkip = 1;
isam2_ = ISAM2(parameters);
}
/// @brief Run the main experiment with a given maxLoopCount.
void run() {
@ -118,7 +119,7 @@ class Experiment {
int id = index % numMeasurements;
if (isWithAmbiguity && id % 2 == 0) {
graph_.add(BetweenFactor<Pose2>(X(keyS), X(keyT), odomPose,
kPoseNoiseModel));
kPoseNoiseModel));
} else {
graph_.add(BetweenFactor<Pose2>(
X(keyS), X(keyT), odomPose,