Add GNC rotation averaging #759
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Shonan weighted by # of inlier matches (IW-Shonan)Huge improvements across the board. **The CI failed for Place of Fine Arts due to memory issues during the Shonan optimization step (had to increase
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@dellaert Is there any other way to enable the Huber loss for Shonan other than the |
IW-Shonan w/ Huber LossHuber is still not effective.
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| - https://arxiv.org/abs/2008.02737 | ||
| - https://gtsam.org/ | ||
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| Authors: Jing Wu, Ayush Baid, John Lambert |
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nit: could you update the author list to your name?
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| """Shonan Rotation Averaging. | |||
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Can we update the module docstring here? Seems stale currently.
| _DEFAULT_TWO_VIEW_ROTATION_SIGMA = 1e-1 | ||
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| class CombinedShonanGncRotationAveraging(RotationAveragingBase): |
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Can we add a file with unit tests for this class?
| _DEFAULT_TWO_VIEW_ROTATION_SIGMA = 1.0 | ||
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| class GncRotationAveraging(RotationAveragingBase): |
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Can we add a file with unit tests for this class?
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