From 865288a4dd1b5fd8b9255f044c0f8d2195341f56 Mon Sep 17 00:00:00 2001 From: Michal Nowicki Date: Mon, 18 Mar 2024 08:47:11 +0100 Subject: [PATCH] Fixing strength of bias constraints in IMUKittiExampleGPS.cpp --- examples/IMUKittiExampleGPS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/IMUKittiExampleGPS.cpp b/examples/IMUKittiExampleGPS.cpp index cb60b25166..66ebba8b2e 100644 --- a/examples/IMUKittiExampleGPS.cpp +++ b/examples/IMUKittiExampleGPS.cpp @@ -241,7 +241,6 @@ int main(int argc, char* argv[]) { "-- Starting main loop: inference is performed at each time step, but we " "plot trajectory every 10 steps\n"); size_t j = 0; - size_t included_imu_measurement_count = 0; for (size_t i = first_gps_pose; i < gps_measurements.size() - 1; i++) { // At each non=IMU measurement we initialize a new node in the graph @@ -249,6 +248,7 @@ int main(int argc, char* argv[]) { auto current_vel_key = V(i); auto current_bias_key = B(i); double t = gps_measurements[i].time; + size_t included_imu_measurement_count = 0; if (i == first_gps_pose) { // Create initial estimate and prior on initial pose, velocity, and biases