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koide3 / glim

GLIM: versatile and extensible range-based 3D localization and mapping framework
MIT License
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Reducing weight of the IntegratedVGICPFactorGPU factor? #90

Closed zMkOrg closed 1 month ago

zMkOrg commented 1 month ago

Hi, thank you for sharing this great work. I want to reduce the weight of the IntegratedVGICPFactorGPU factor so I can integrate data from other high precision sensors. Could you tell me how to do this? I would be very grateful. I didn't see any function interfaces in gtsam_points for reducing weight or increasing noise.

koide3 commented 1 month ago

While gtsam_points doesn't have a direct interface to do it, you can change the matching weight by increasing the covariance of each point (Frame::covs).

zMkOrg commented 1 month ago

it worked! thank you for your kind help and immediate response.

While gtsam_points doesn't have a direct interface to do it, you can change the matching weight by increasing the covariance of each point (Frame::covs).