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VisualISAMExample in MATLAB: try to enable point priors. Disable logging images.

release/4.3a0
Duy-Nguyen Ta 2012-06-06 21:21:49 +00:00
parent 31d88649f7
commit c518381373
1 changed files with 4 additions and 4 deletions
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8
examples/matlab/VisualISAMExample.m
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@ -48,9 +48,9 @@ for i=1:nCameras
% Prior for the first pose or odometry for subsequent poses % Prior for the first pose or odometry for subsequent poses
if (i==1) if (i==1)
newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise); newFactors.addPosePrior(symbol('x',1), poses{1}, poseNoise);
% for j=1:nPoints for j=1:nPoints
% newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise); newFactors.addPointPrior(symbol('l',j), points{j}, pointNoise);
% end end
else else
newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise); newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, poseNoise);
end end
@ -102,7 +102,7 @@ for i=1:nCameras
end end
axis([-50 50 -50 50 -50 50]) axis([-50 50 -50 50 -50 50])
colormap('hot') colormap('hot')
print(h,'-dpng',sprintf('VisualISAM_%03d.png',i)); %print(h,'-dpng',sprintf('VisualISAM_%03d.png',i));
% Reset newFactors and initialEstimates to prepare for the next % Reset newFactors and initialEstimates to prepare for the next
% update % update