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solving issue with robust model

release/4.3a0
lcarlone 2020-09-24 17:06:20 -04:00
parent 001a55ad3a
commit 73600c8faa
2 changed files with 19 additions and 9 deletions
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16
gtsam/sfm/ShonanAveraging.cpp
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@ -339,11 +339,21 @@ template <typename T>
static double Kappa(const BinaryMeasurement<T> &measurement) {
const auto &isotropic = boost::dynamic_pointer_cast<noiseModel::Isotropic>(
measurement.noiseModel());
if (!isotropic) {
double sigma;
if (isotropic) {
sigma = isotropic->sigma();
} else{
const auto &robust = boost::dynamic_pointer_cast<noiseModel::Robust>(
measurement.noiseModel());
if (robust) {
std::cout << "Verification of optimality does not work with robust cost function" << std::endl;
sigma = 1; // setting arbitrary value
}else{
throw std::invalid_argument(
"Shonan averaging noise models must be isotropic.");
"Shonan averaging noise models must be isotropic (but robust losses are allowed).");
}
}
const double sigma = isotropic->sigma();
return 1.0 / (sigma * sigma);
}

2
gtsam/sfm/tests/testShonanAveraging.cpp
View File

@ -338,7 +338,7 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) {
graph.print();
EXPECT_LONGS_EQUAL(6, graph.size());
auto initial = shonan.initializeRandomly(kRandomNumberGenerator);
auto result = shonan.run(initial, 2);
auto result = shonan.run(initial, 2, 3);
EXPECT_DOUBLES_EQUAL(0.0008211, shonan.cost(result.first), 1e-6);
EXPECT_DOUBLES_EQUAL(0, result.second, 1e-10); // certificate!
}