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changed barcsq to a vector to allow each factor to have a different inlier threshold #684

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merged 7 commits into from
Feb 3, 2021
Merged

changed barcsq to a vector to allow each factor to have a different inlier threshold #684

merged 7 commits into from
Feb 3, 2021

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lucacarlone
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@lucacarlone lucacarlone commented Jan 23, 2021 •
edited

I realized that having a default inlier threshold equal to 1 does not make sense for the gtsam user since:

  1. "1" is not a reasonable error threshold (for Gaussian noise, we should use the chi2inv to establish a reasonable maximum error) and
  2. the factors can have different dimensions, hence it is desirable to be able to set a different threshold for each factor.

The PR involves:

  • making barcsq into a vector
  • adding/adjusting the unit tests accordingly
  • initializing barcsq using chi2inv

@lucacarlone lucacarlone added the enhancement Improvement to GTSAM label Jan 23, 2021
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@dellaert @jingnanshi @pantonante : I completed a small enhancement for GNC. please take a look and approve if you like it.

@dellaert : please take a look at the 2 lines commented at line 658 of testGncOptimizer. It seems that "dim()" segfaults when we use the default noise model in the factor. This might be a bug in gtsam.

dellaert
dellaert approved these changes Jan 27, 2021
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Nice! Sorry about delay, teaching large class ;-)

dellaert
dellaert requested changes Jan 27, 2021
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PR is fine, but changing to "request changes" as I just noticed CI fails on Linux. Probably something small but needs to be fixed before we can merge.

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@dellaert : please take a look at the 2 lines commented at line 658 of testGncOptimizer. It seems that "dim()" segfaults when we use the default noise model in the factor. This might be a bug in gtsam.

Is that why CI fails? Let me check.

@lucacarlone
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@dellaert: let me know if you get some insight into what's failing in CI. I took another pass and cleaned up the comments. @jingnanshi @pantonante : feel free to approve if this looks good.

jingnanshi
jingnanshi reviewed Jan 30, 2021
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gtsam/nonlinear/GncOptimizer.h Outdated
@@ -29,7 +29,18 @@
#include <gtsam/nonlinear/GncParams.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>

//#include <boost/math/distributions/inverse_chi_squared.hpp>
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We might want to remove this line.

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good catch - done!

jingnanshi
jingnanshi approved these changes Jan 30, 2021
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Everything looks good! I left one comment regarding a commented out include file.

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Still some failures on Ubuntu, though?

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@dellaert : I only changed comments so far, I hoped you could look into the dim() issue. Let me know if that's not feasible.

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@dellaert : I only changed comments so far, I hoped you could look into the dim() issue. Let me know if that's not feasible.

Dim issue is separate, I think. CI failure is unrelated

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@dellaert : @jingnanshi fixed the issue! at this point, this branch should be good to go

@dellaert dellaert merged commit 8261326 into develop Feb 3, 2021
@dellaert dellaert deleted the feature/gncImprovements branch December 29, 2021 00:22
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@dellaert dellaert dellaert approved these changes

@jingnanshi jingnanshi jingnanshi approved these changes

@pantonante pantonante Awaiting requested review from pantonante

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@lucacarlone @dellaert @jingnanshi