Fixing strength of bias constraints in IMUKittiExampleGPS.cpp #1735
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varunagrawal
approved these changes
Mar 18, 2024
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Looks like the PPA servers are down. I'll re-run the CI later today. |
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This is a follow-up of a question at gtsam's Google group.
included_imu_measurement_countvariable was not zeroed making each consecutive bias constraint weaker. This PR zeroes it when a new node is placed in the graph. For default parameters,included_imu_measurement_countis equal to 100 for all added bias constraints.This change impacts the final estimate, which I am not sure if was ever compared to ground truth.
Previously, State at 469:
t: 43.0073055 74.1530101 -0.426735268Currently, State at 469:
t: 44.1523951 74.9626438 0.170519702