16 lines
589 B
Matlab
16 lines
589 B
Matlab
%% Initialize graph, initial estimate, and odometry noise
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datafile = findExampleDataFile('w100.graph');
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model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 5*pi/180]);
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[graph,initial] = load2D(datafile, model);
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%% Add a Gaussian prior on pose x_0
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priorMean = Pose2(0, 0, 0);
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priorNoise = noiseModel.Diagonal.Sigmas([0.01; 0.01; 0.01]);
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graph.add(PriorFactorPose2(0, priorMean, priorNoise));
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%% Optimize using Levenberg-Marquardt optimization and get marginals
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optimizer = LevenbergMarquardtOptimizer(graph, initial);
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result = optimizer.optimizeSafely;
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marginals = Marginals(graph, result);
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