From cde2bebf36d2e21f0d859934005e369099253e1c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 29 Jan 2025 13:55:22 -0500
Subject: [PATCH] Fix loop noise model

---
 examples/Hybrid_City10000.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/Hybrid_City10000.cpp b/examples/Hybrid_City10000.cpp
index b704b7e0d..b8b3338dc 100644
--- a/examples/Hybrid_City10000.cpp
+++ b/examples/Hybrid_City10000.cpp
@@ -92,7 +92,7 @@ class Experiment {
 
     auto f0 = std::make_shared<BetweenFactor<Pose2>>(
         X(keyS), X(keyT), measurement,
-        noiseModel::Diagonal::Sigmas(Vector3::Ones() * 100));
+        noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10));
     auto f1 = std::make_shared<BetweenFactor<Pose2>>(
         X(keyS), X(keyT), measurement, kPoseNoiseModel);