Template Function slam_mer::covisibility_graph::get_odometry_noise_model

• Defined in File factors_noise_model.hpp

Function Documentation

template<typename TransformationType>
gtsam::noiseModel::Diagonal::shared_ptr slam_mer::covisibility_graph::get_odometry_noise_model(const double weight_ = 1.0)

Build the baseline odometry-factor noise model.

Parameters:

weight_ – Scaling weight applied to odometry uncertainties.

Returns:

Diagonal noise model used by odometry factors.