Chordal initialization in Shonan #822
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dellaert
reviewed
Feb 5, 2025
gtsfm/averaging/rotation/shonan.py
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| @@ -52,14 +57,17 @@ def __init__( | |||
| super().__init__() | |||
| self._two_view_rotation_sigma = two_view_rotation_sigma | |||
| self._p_min = 3 | |||
| self._p_max = 64 | |||
| self._p_max = 3 | |||
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64 is excessive, but 3 is maybe a mistake :-) We should monitor the number on a few datasets and choose based on that.
gtsfm/averaging/rotation/shonan.py
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| shonan_params = ShonanAveragingParameters3(lm_params) | ||
| shonan_params.setUseHuber(False) | ||
| shonan_params.setCertifyOptimality(True) | ||
| shonan_params.setUseHuber(True) |
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These things should not change, right?
| Initial values as a gtsam.Values object. | ||
| """ | ||
| graph = gtsam.NonlinearFactorGraph() | ||
| anchor_key = None |
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Yeah, we should figure out anchors in ground truth and use those if available.
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Did latest changes fix those datasets? |
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@akshay-krishnan can we merge? |
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Yeah, the unit test failure also happens on master, I'll fix that in a different PR |
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Actually, I should first merge the TA PR |
dellaert
approved these changes
Feb 14, 2025
|
Yay !!!! |
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