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Commit 2d3407bc authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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hotfix setprior

parent 2def2637
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demos/hello_wolf/hello_wolf.cpp
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...@@ -141,8 +141,9 @@ int main() ...@@ -141,8 +141,9 @@ int main()
TimeStamp t(0.0); // t : 0.0 TimeStamp t(0.0); // t : 0.0
Vector3d x(0,0,0); Vector3d x(0,0,0);
Matrix3d P = Matrix3d::Identity() * 0.1; Matrix3d P = Matrix3d::Identity() * 0.1;
FrameBasePtr KF1 = problem->setPriorFactor(x, P, t, 0.5); // KF1 : (0,0,0) //FrameBasePtr KF1 = problem->setPriorFactor(x, P, 0.5); // KF1 : (0,0,0)
std::static_pointer_cast<ProcessorMotion>(processor)->setOrigin(KF1); //std::static_pointer_cast<ProcessorMotion>(processor)->setOrigin(KF1);
problem->setPriorOptions("factor", 0.5, x, P);
// SELF CALIBRATION =================================================== // SELF CALIBRATION ===================================================
......
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