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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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12
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}};
@ -269,11 +269,11 @@ int main(int argc, char* argv[]) {
/// Write result to file /// Write result to file
write_result(result, (key_t + 1), "Hybrid_City10000.txt"); write_result(result, (key_t + 1), "Hybrid_City10000.txt");
//TODO Write to file // TODO Write to file
// for (size_t i = 0; i < smoother_update_times.size(); i++) { // for (size_t i = 0; i < smoother_update_times.size(); i++) {
// auto p = smoother_update_times.at(i); // auto p = smoother_update_times.at(i);
// std::cout << p.first << ", " << p.second / CLOCKS_PER_SEC << std::endl; // std::cout << p.first << ", " << p.second / CLOCKS_PER_SEC << std::endl;
// } // }
ofstream outfile_time; ofstream outfile_time;
std::string time_file_name = "Hybrid_City10000_time.txt"; std::string time_file_name = "Hybrid_City10000_time.txt";
outfile_time.open(time_file_name); outfile_time.open(time_file_name);