Hi,
Something like this with expressions should work:
using namespace gtsam;
using gtsam::symbol_shorthand::T; // Pose3's
using gtsam::symbol_shorthand::P; // Point3's
// for each pairing:
newfactors.addExpressionFactor(compose(Pose3_(T(posekey)),
Point3_(P(localPointIdx))), Point3(globalPointValue), noiseModel);
JL
On Wed, Apr 15, 2020 at 10:18 AM Mikhail Timofeev
<
mikhail.a...@gmail.com> wrote:
>
> I have two sets of measurements where every data point A, B consists of (x, y, timestamp) and I need to fit one of them to the other, i.e. find a transformation (shifting and rotating) that will bring A as close as possible to B. Timestamps provide a way to match the points between sets, i.e. I know which point from set A corresponds to which point from the set B. The problem has multiple local minima. Does anybody have an example of GTSAM code with a problem similar to this?
>
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