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Merge pull request #675 from borglab/fix/shonan-noise-model-from-factor 

changing robust noise model to Gaussian
release/4.3a0
Ayush Baid 2021-01-18 22:27:46 -05:00 committed by GitHub
parent c383b6c9f3 09a2e2ebd4
commit 654995e073
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GPG Key ID: 4AEE18F83AFDEB23
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 "
"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);
}