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check with perfect measurements

release/4.3a0
Duy-Nguyen Ta 2011-08-23 22:17:09 +00:00
parent 24a897429a
commit 9be9251d1b
1 changed files with 5 additions and 5 deletions
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10
examples/CameraResectioning.cpp
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@ -64,19 +64,19 @@ int main(int argc, char* argv[]) {
/* 2. add factors to the graph */
// add measurement factors
SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 1.0, 1.0));
SharedDiagonal measurementNoise = sharedSigmas(Vector_(2, 0.5, 0.5));
boost::shared_ptr<ResectioningFactor> factor;
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(55.1, 45.4), Point3(10.0, 10.0, 0.0)));
measurementNoise, X, calib, Point2(55.0, 45.0), Point3(10.0, 10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(45.2, 45.1), Point3(-10.0, 10.0, 0.0)));
measurementNoise, X, calib, Point2(45.0, 45.0), Point3(-10.0, 10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(45.3, 55.3), Point3(-10.0, -10.0, 0.0)));
measurementNoise, X, calib, Point2(45.0, 55.0), Point3(-10.0, -10.0, 0.0)));
graph.push_back(factor);
factor = boost::shared_ptr<ResectioningFactor>(new ResectioningFactor(
measurementNoise, X, calib, Point2(55.1, 55.2), Point3(10.0, -10.0, 0.0)));
measurementNoise, X, calib, Point2(55.0, 55.0), Point3(10.0, -10.0, 0.0)));
graph.push_back(factor);
/* 3. Create an initial estimate for the camera pose */