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Commit 754857e0 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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hotfix set prior in hello wolf

parent 8997daa9
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...@@ -141,9 +141,8 @@ int main() ...@@ -141,9 +141,8 @@ 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, 0.5); // KF1 : (0,0,0) FrameBasePtr KF1 = problem->setPriorFactor(x, P, t, 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 ===================================================
......
...@@ -9,6 +9,7 @@ ...@@ -9,6 +9,7 @@
// wolf core includes // wolf core includes
#include "core/common/wolf.h" #include "core/common/wolf.h"
#include "core/capture/capture_odom_2d.h" #include "core/capture/capture_odom_2d.h"
#include "core/processor/processor_motion.h"
#include "core/yaml/parser_yaml.h" #include "core/yaml/parser_yaml.h"
#include "core/ceres_wrapper/ceres_manager.h" #include "core/ceres_wrapper/ceres_manager.h"
...@@ -118,9 +119,11 @@ int main() ...@@ -118,9 +119,11 @@ int main()
// recover sensor pointers and other stuff for later use (access by sensor name) // recover sensor pointers and other stuff for later use (access by sensor name)
SensorBasePtr sensor_odo = problem->getSensor("sen odom"); SensorBasePtr sensor_odo = problem->getSensor("sen odom");
SensorBasePtr sensor_rb = problem->getSensor("sen rb"); SensorBasePtr sensor_rb = problem->getSensor("sen rb");
TimeStamp t = problem->getTrajectory()->getFrameList().front()->getTimeStamp();
// APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
TimeStamp t(0.0);
FrameBasePtr KF1 = problem->applyPriorOptions(t);
std::static_pointer_cast<ProcessorMotion>(problem->getProcessorIsMotion())->setOrigin(KF1);
// SELF CALIBRATION =================================================== // SELF CALIBRATION ===================================================
// These few lines control whether we calibrate some sensor parameters or not. // These few lines control whether we calibrate some sensor parameters or not.
......
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