12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

changing robust noise model to Gaussian

release/4.3a0
Ayush Baid 2021-01-18 09:52:02 -05:00
parent edcd75f060
commit 09a2e2ebd4
1 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/sfm/ShonanAveraging.cpp
View File

@ -880,9 +880,7 @@ static BinaryMeasurement<Rot3> convert(
"parseMeasurements<Rot3> can only convert Pose3 measurements "
"with Gaussian noise models.");
const Matrix6 M = gaussian->covariance();
auto model = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345),
noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3)));
auto model = noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3));
return BinaryMeasurement<Rot3>(f->key1(), f->key2(), f->measured().rotation(),
model);
}