From ef35f3c1fede28305de62059798ccbf8e41cab5d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 29 Jan 2025 14:13:39 -0500 Subject: [PATCH] reduce noise model --- examples/Hybrid_City10000.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/Hybrid_City10000.cpp b/examples/Hybrid_City10000.cpp index f79f88970..e7750f79a 100644 --- a/examples/Hybrid_City10000.cpp +++ b/examples/Hybrid_City10000.cpp @@ -93,7 +93,7 @@ HybridNonlinearFactor HybridLoopClosureFactor(size_t loop_counter, size_t key_s, auto f0 = std::make_shared>( X(key_s), X(key_t), measurement, - noiseModel::Diagonal::Sigmas(Vector3::Ones() * 100)); + noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10)); auto f1 = std::make_shared>( X(key_s), X(key_t), measurement, pose_noise_model); std::vector factors{{f0, 0.0}, {f1, 0.0}}; @@ -269,11 +269,11 @@ int main(int argc, char* argv[]) { /// Write result to file write_result(result, (key_t + 1), "Hybrid_City10000.txt"); - //TODO Write to file - // for (size_t i = 0; i < smoother_update_times.size(); i++) { - // auto p = smoother_update_times.at(i); - // std::cout << p.first << ", " << p.second / CLOCKS_PER_SEC << std::endl; - // } + // TODO Write to file + // for (size_t i = 0; i < smoother_update_times.size(); i++) { + // auto p = smoother_update_times.at(i); + // std::cout << p.first << ", " << p.second / CLOCKS_PER_SEC << std::endl; + // } ofstream outfile_time; std::string time_file_name = "Hybrid_City10000_time.txt"; outfile_time.open(time_file_name);