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reduce noise model

release/4.3a0
Varun Agrawal 2025-01-29 14:13:39 -05:00
parent 897b05f318
commit ef35f3c1fe
1 changed files with 6 additions and 6 deletions
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examples/Hybrid_City10000.cpp
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@ -93,7 +93,7 @@ HybridNonlinearFactor HybridLoopClosureFactor(size_t loop_counter, size_t key_s,
auto f0 = std::make_shared<BetweenFactor<Pose2>>( auto f0 = std::make_shared<BetweenFactor<Pose2>>(
X(key_s), X(key_t), measurement, X(key_s), X(key_t), measurement,
noiseModel::Diagonal::Sigmas(Vector3::Ones() * 100)); noiseModel::Diagonal::Sigmas(Vector3::Ones() * 10));
auto f1 = std::make_shared<BetweenFactor<Pose2>>( auto f1 = std::make_shared<BetweenFactor<Pose2>>(
X(key_s), X(key_t), measurement, pose_noise_model); X(key_s), X(key_t), measurement, pose_noise_model);
std::vector<NonlinearFactorValuePair> factors{{f0, 0.0}, {f1, 0.0}}; std::vector<NonlinearFactorValuePair> factors{{f0, 0.0}, {f1, 0.0}};