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included Tukey

release/4.3a0
Luca 2014-05-19 10:53:59 -04:00
parent 5a6d719690
commit c167430389
1 changed files with 8 additions and 1 deletions
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9
examples/Pose2SLAMExampleRobust_g2o.cpp
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@ -85,13 +85,20 @@ int main(const int argc, const char *argv[]){
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Variances((Vector(3) << 1/I11, 1/I22, 1/I33));
// NonlinearFactor::shared_ptr factor(new BetweenFactor<Pose2>(id1, id2, l1Xl2,
// noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), model)));
NonlinearFactor::shared_ptr factor(new BetweenFactor<Pose2>(id1, id2, l1Xl2,
noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.0), model)));
noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), model)));
graph.add(factor);
}
is.ignore(LINESIZE, '\n');
}
//std::cout << "Robust kernel: Huber" << std::endl;
std::cout << "Robust kernel: Tukey" << std::endl;
// otherwise GTSAM cannot solve the problem
NonlinearFactorGraph graphWithPrior = graph;
noiseModel::Diagonal::shared_ptr priorModel = noiseModel::Diagonal::Variances((Vector(3) << 0.01, 0.01, 0.001));