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mobile_robotics
wolf_projects
wolf_lib
wolf
Merge requests
!403
Resolve "Merge Aux/KeyFrames into Estimated Frames"
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Resolve "Merge Aux/KeyFrames into Estimated Frames"
313-merge-aux-keyframes-into-estimated-frames
into
devel
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2
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21
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16
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50
Merged
Joan Solà Ortega
requested to merge
313-merge-aux-keyframes-into-estimated-frames
into
devel
4 years ago
Overview
2
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21
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16
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50
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Closes
#313 (closed)
Edited
4 years ago
by
Joan Solà Ortega
0
0
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latest version
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f72c92d4
21 commits,
4 years ago
version 14
b6c57ab0
20 commits,
4 years ago
version 13
5e2874a5
19 commits,
4 years ago
version 12
7ec4574e
18 commits,
4 years ago
version 11
8c0c6b70
17 commits,
4 years ago
version 10
991a0a51
16 commits,
4 years ago
version 9
0a14c092
14 commits,
4 years ago
version 8
a15510c0
13 commits,
4 years ago
version 7
aa938bb2
12 commits,
4 years ago
version 6
67a1410f
11 commits,
4 years ago
version 5
30ac7955
10 commits,
4 years ago
version 4
e1087315
8 commits,
4 years ago
version 3
49d9d1f0
7 commits,
4 years ago
version 2
d90cb632
2 commits,
4 years ago
version 1
5680bc04
1 commit,
4 years ago
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demos/hello_wolf/hello_wolf.cpp
+
5
−
6
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@@ -233,12 +233,11 @@ int main()
WOLF_TRACE
(
"======== COVARIANCES OF SOLVED PROBLEM ======="
)
ceres
->
computeCovariances
(
SolverManager
::
CovarianceBlocksToBeComputed
::
ALL_MARGINALS
);
for
(
auto
&
kf
:
*
problem
->
getTrajectory
())
if
(
kf
->
isKey
())
{
Eigen
::
MatrixXd
cov
;
kf
->
getCovariance
(
cov
);
WOLF_TRACE
(
"KF"
,
kf
->
id
(),
"_cov =
\n
"
,
cov
);
}
{
Eigen
::
MatrixXd
cov
;
kf
->
getCovariance
(
cov
);
WOLF_TRACE
(
"KF"
,
kf
->
id
(),
"_cov =
\n
"
,
cov
);
}
for
(
auto
&
lmk
:
problem
->
getMap
()
->
getLandmarkList
())
{
Eigen
::
MatrixXd
cov
;
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