const gtsam::Key key = gtsam::symbol_shorthand::X(0); 直接添加下面这种信息:但是猜测它应该是X(0) initialEstimate.insert(0, trans2gtsamPose(transformTobeMapped)); //位姿优化的初始值 2.2 关于Symbol('x', i)关键字 它是变量容器Values initialEstimate(key,value)中的key关键字定义; 2张图分别是...
gtsam::SharedNoiseModel h_model = gtsam::noiseModel::Isotropic::Sigma(2 * src_pts.size(), 1); const gtsam::Key key = gtsam::symbol_shorthand::X(0); gtsam::NonlinearFactorGraph graph; graph.emplace_shared<gtsam::AFactor>(key,src_pts,dst_pts,h_model); 2. 给定初值 h0是可以有trick...
using symbol_shorthand::C; using symbol_shorthand::P; // We will be using a projection factor that ties a SFM_Camera to a 3D point. // An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration // and has a total of 9 free parameters typedef GeneralSFM...
using symbol_shorthand::L; // to create landmark keys static ConjugateGradientParameters parameters; // add following below to add printing: // parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY; /* *** */ TEST( Iterative, steepestDescent ) { // Create factor graph Gaussian...
gtsam::SharedNoiseModel noise_model = gtsam::noiseModel::Isotropic::Sigma(3 * P.size(), 1); const gtsam::Key key = gtsam::symbol_shorthand::X(0); gtsam::NonlinearFactorGraph graph; graph.emplace_shared<gtsam::PointRigidTransformationFactor>(key,P,Q,noise_model); 给定初值 gtsam::Values...
gtsam::SharedNoiseModel edge_noise_model = gtsam::noiseModel::Isotropic::Sigma(3, 1); const gtsam::Key key = gtsam::symbol_shorthand::X(i); gtsam::NonlinearFactorGraph graph; graph.emplace_shared<LoamEdgeFactor>(key,X_i,X_j,X_l,edge_noise_model); // plane gtsam::SharedNoiseModel ...
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Symbol.h> #include <gtsam/base/timing.h> #include <string> #include <vector> using namespace std; using namespace gtsam; using symbol_shorthand::C; using symbol_shorthand::K; using symbol_shorthand::P; static bool gUseSchur = true; static SharedNoiseModel gNoiseModel = noiseModel::Unit:...
1. 卸载 PPA 安装的 GTSAM 如果之前通过 PPA 安装了 GTSAM，请先卸载：sudo apt-get remove libgtsa...
X(0),pose_0);// 设置IMU偏差的先验因子// 对应到上图中连接到变量b0的一元因子KeybiasKey=Symbol...