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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
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4
gtsam/sfm/ShonanAveraging.cpp
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@ -880,9 +880,7 @@ static BinaryMeasurement<Rot3> convert(
"parseMeasurements<Rot3> can only convert Pose3 measurements " "parseMeasurements<Rot3> can only convert Pose3 measurements "
"with Gaussian noise models."); "with Gaussian noise models.");
const Matrix6 M = gaussian->covariance(); const Matrix6 M = gaussian->covariance();
auto model = noiseModel::Robust::Create( auto model = noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3));
noiseModel::mEstimator::Huber::Create(1.345),
noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3)));
return BinaryMeasurement<Rot3>(f->key1(), f->key2(), f->measured().rotation(), return BinaryMeasurement<Rot3>(f->key1(), f->key2(), f->measured().rotation(),
model); model);
} }