Function slam_mer::covisibility_graph::get_robust_odometry_noise_model

• Defined in File factors_noise_model.hpp

Function Documentation

gtsam::noiseModel::Robust::shared_ptr slam_mer::covisibility_graph::get_robust_odometry_noise_model(const gtsam::noiseModel::Diagonal::shared_ptr odometryNoise_)

Build a robust odometry noise model from a base diagonal model.

Parameters:

odometryNoise_ – Base odometry noise model.

Returns:

Robust noise model wrapping the odometry residual.