ReferenceFrameFactor Usage.

[Peter Milani]

I'm trying to use the Reference Frame Factor to try and do ICP between corresponding points in two different frames. It might work but I get weird solutions which seem wrong, so I think I have a misunderstanding about the usage of this factor and its capabilities.

My points are 2D and I am relating them by a Pose2D. I have a list of N corresponding points and I define N ReferenceFrameFactors<Point2, Pose2> in my graph. Theres not a lot of noise in my points, but sometimes there's a significant disparity when I plot both sets of points back in the global frame.  

I was at one stage setting a prior on my points values so that they have noise but I found issues whether I did that or not.

Is there a more appropriate factor to use? Or a better way to use it?

cheers

Peter

[Peter Milani]

I get a similar effect when using Pose2::align(). Will these algorithms be affected by the distance from the origin? Ie if I am aligning two sets of corresponding points a long way from the frame origin, does that make the optimisation less stable?

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