From 9be9251d1b08f1ac0c204153df661faf515b7f92 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Tue, 23 Aug 2011 22:17:09 +0000 Subject: [PATCH] check with perfect measurements --- examples/CameraResectioning.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp index 809c323da..d6ebb760b 100644 --- a/examples/CameraResectioning.cpp +++ b/examples/CameraResectioning.cpp @@ -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 factor; factor = boost::shared_ptr(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(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(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(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 */