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renaming

release/4.3a0
Luca 2014-04-10 18:48:29 -04:00
parent a92b3b2339
commit c20dd18ab7
1 changed files with 4 additions and 4 deletions
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8
matlab/unstable_examples/+imuSimulator/covarianceAnalysisBetween.m
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@ -9,7 +9,7 @@ clear all
close all close all
%% Configuration %% Configuration
useAspnData = 0; % controls whether or not to use the ASPN data for scenario 2 as the ground truth traj useRealData = 0; % controls whether or not to use the Real data (is available) as the ground truth traj
includeIMUFactors = 1; % if true, IMU type 1 Factors will be generated for the random trajectory includeIMUFactors = 1; % if true, IMU type 1 Factors will be generated for the random trajectory
includeCameraFactors = 0; includeCameraFactors = 0;
trajectoryLength = 50; trajectoryLength = 50;
@ -39,7 +39,7 @@ unsmooth_DR = 0.1; % controls smoothness on rotation norm
gtValues = Values; gtValues = Values;
gtGraph = NonlinearFactorGraph; gtGraph = NonlinearFactorGraph;
if useAspnData == 1 if useRealData == 1
sigma_ang = 1e-4; sigma_ang = 1e-4;
sigma_cart = 40; sigma_cart = 40;
else else
@ -49,7 +49,7 @@ end
noiseVectorPose = [sigma_ang; sigma_ang; sigma_ang; sigma_cart; sigma_cart; sigma_cart]; noiseVectorPose = [sigma_ang; sigma_ang; sigma_ang; sigma_cart; sigma_cart; sigma_cart];
noisePose = noiseModel.Diagonal.Sigmas(noiseVectorPose); noisePose = noiseModel.Diagonal.Sigmas(noiseVectorPose);
if useAspnData == 1 if useRealData == 1
%% Create a ground truth trajectory using scenario 2 data %% Create a ground truth trajectory using scenario 2 data
fprintf('\nUsing Scenario 2 ground truth data\n'); fprintf('\nUsing Scenario 2 ground truth data\n');
% load scenario 2 ground truth data % load scenario 2 ground truth data
@ -159,7 +159,7 @@ for k=1:numMonteCarloRuns
graph = NonlinearFactorGraph; graph = NonlinearFactorGraph;
% noisy prior % noisy prior
if useAspnData == 1 if useRealData == 1
currentPoseKey = symbol('x', 0); currentPoseKey = symbol('x', 0);
initialPosition = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(1); gtScenario2.Lon(1); gtScenario2.Alt(1)]); initialPosition = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(1); gtScenario2.Lon(1); gtScenario2.Alt(1)]);
initialRotation = [gtScenario2.Roll(1); gtScenario2.Pitch(1); gtScenario2.Heading(1)]; initialRotation = [gtScenario2.Roll(1); gtScenario2.Pitch(1); gtScenario2.Heading(1)];