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pvazteixeira/isam-partial.md

Created November 6, 2018 05:46
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isam - partial constraints (example)
Raw
isam-partial.md 
➜ ./isam-partial 
LM Iteration 1: (lambda=1e-06) residual: 0.0106658
LM Iteration 2: (lambda=1e-07) residual: 2.62846e-07

Full graph:
Pose3d_Factor 0 (0, 0, 0; 0, 0, 0) {10,0,0,0,0,0,10,0,0,0,0,10,0,0,0,10,0,0,10,0,10}
Pose3dPartial_Factor 1 (2, 0.1, 0.1) {10,0,0,10,0,10}
Pose3d_Pose3d_PartialXYH_Factor 0 1   1
  1
0.1 {10,0,0,10,0,10}
Pose3dPartial_Factor 2 (4, 0, 0) {10,0,0,10,0,10}
Pose3d_Pose3d_PartialXYH_Factor 1 2  1.97907
 2.00189
0.109907 {10,0,0,10,0,10}
Pose3d_Node 0 (-2.07028e-09, 1.83223e-10, 0; 1.23003e-08, -4.03844e-09, 5.80129e-10)
Pose3d_Node 1 (1, 1, 2; 0.0999849, 0.0999867, 0.0999848)
Pose3d_Node 2 (2.99996, 3, 4; 0.199968, 1.13912e-10, -5.66214e-13)
```sh
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