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Undo changes to gtsam/matlab.

release/4.3a0
Alex Hagiopol 2016-04-11 19:11:02 -04:00
parent 87c56cdff5
commit eeeebc86ee
6 changed files with 6 additions and 6 deletions
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2
matlab/gtsam_examples/IMUKittiExampleGPS.m
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@ -38,7 +38,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
sigma_init_x = noiseModel.Isotropic.Precisions([ 0.0; 0.0; 0.0; 1; 1; 1 ]);
sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
g = [0;0;-9.8];
w_coriolis = [0;0;0];

2
matlab/gtsam_examples/SBAExample.m
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@ -29,7 +29,7 @@ options.showImages = false;
measurementNoiseSigma = 1.0;
pointNoiseSigma = 0.1;
cameraNoiseSigmas = [0.001 0.001 0.001 0.1 0.1 0.1 ...
0.001*Matrix::Ones(1,5)]';
0.001*ones(1,5)]';
%% Create the graph (defined in visualSLAM.h, derived from NonlinearFactorGraph)
graph = NonlinearFactorGraph;

2
matlab/unstable_examples/FlightCameraTransformIMU.m
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@ -62,7 +62,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
sigma_init_v = noiseModel.Isotropic.Sigma(3, 1.0);
sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
g = [0;0;-9.8];
w_coriolis = [0;0;0];

2
matlab/unstable_examples/IMUKittiExampleAdvanced.m
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@ -155,7 +155,7 @@ for measurementIndex = 1:length(timestamps)
%% Create GPS factor
if type == 2
newFactors.add(PriorFactorPose3(currentPoseKey, Pose3(currentPoseGlobal.rotation, GPS_data(measurementIndex).Position), ...
noiseModel.Diagonal.Precisions([ zeros(3,1); 1./(GPS_data(measurementIndex).PositionSigma).^2*Matrix::Ones(3,1) ])));
noiseModel.Diagonal.Precisions([ zeros(3,1); 1./(GPS_data(measurementIndex).PositionSigma).^2*ones(3,1) ])));
end
%% Create VO factor

2
matlab/unstable_examples/IMUKittiExampleVO.m
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@ -51,7 +51,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
sigma_init_x = noiseModel.Isotropic.Sigmas([ 1.0; 1.0; 0.01; 0.01; 0.01; 0.01 ]);
sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
g = [0;0;-9.8];
w_coriolis = [0;0;0];

2
matlab/unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m
View File

@ -94,7 +94,7 @@ currentBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
sigma_init_v = noiseModel.Isotropic.Sigma(3, 1.0);
sigma_init_b = noiseModel.Isotropic.Sigmas([ 0.100; 0.100; 0.100; 5.00e-05; 5.00e-05; 5.00e-05 ]);
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * Matrix::Ones(3,1); IMU_metadata.GyroscopeBiasSigma * Matrix::Ones(3,1) ];
sigma_between_b = [ IMU_metadata.AccelerometerBiasSigma * ones(3,1); IMU_metadata.GyroscopeBiasSigma * ones(3,1) ];
g = [0;0;-9.8];
w_coriolis = [0;0;0];