update

zha0ming1e · Mar 15, 2021 · 66b5e19 · 66b5e19
1 parent 32fa8af
commit 66b5e19
Show file tree

Hide file tree

Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/README.md b/README.md
@@ -120,7 +120,7 @@ There are two examples which are implemented by LEGO (one of non-linear data fit
 
     ![nonlinear_fitting](./image/nonlinear_fitting.png) 
 
-- **Pose Graph Optimization on SE3/se3** 
+- **Pose Graph Optimization on SE3/se3** (e.g. pose graph optimization on se3/Lie algebra with the default updating strategy) 
 
   **Run** 
 
@@ -145,8 +145,14 @@ There are two examples which are implemented by LEGO (one of non-linear data fit
   Iteration = 6,	Chi = 8.81683e+08,	Lambda = 1766.34
   ...
   ```
-
-### Uninstall 
+
+  **Result** 
+
+  ![before_after_optimization](./image/before_after_optimization.png) 
+
+  ![optimization_comparison](./image/optimization_comparison.gif)  
+
+### Uninstall
 
 We can delete the LEGO header files (\*.h/\*.hpp) and libs (\*.so) from where we installed it. Default: 
 

diff --git a/image/before_after_optimization.png b/image/before_after_optimization.png
diff --git a/image/optimization_comparison.gif b/image/optimization_comparison.gif