12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed unnecessary copy constructor and robust noise model is caller's responsibility

release/4.3a0
Varun Agrawal 2020-11-30 17:30:34 -05:00
parent 48699f917e
commit fba918ce96
1 changed files with 2 additions and 33 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
gtsam/sfm/BinaryMeasurement.h
View File

@ -47,41 +47,10 @@ private:
public:
BinaryMeasurement(Key key1, Key key2, const T &measured,
const SharedNoiseModel &model = nullptr,
bool useHuber = false)
const SharedNoiseModel &model = nullptr)
: Factor(std::vector<Key>({key1, key2})),
measured_(measured),
noiseModel_(model) {
if (useHuber) {
const auto &robust =
boost::dynamic_pointer_cast<noiseModel::Robust>(this->noiseModel_);
if (!robust) {
// make robust
this->noiseModel_ = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), this->noiseModel_);
}
}
}
/**
* Copy constructor to allow for making existing BinaryMeasurements as robust
* in a functional way.
*
* @param measurement BinaryMeasurement object.
* @param useHuber Boolean flag indicating whether to use Huber noise model.
*/
BinaryMeasurement(const BinaryMeasurement& measurement, bool useHuber = false) {
*this = measurement;
if (useHuber) {
const auto &robust =
boost::dynamic_pointer_cast<noiseModel::Robust>(this->noiseModel_);
if (!robust) {
// make robust
this->noiseModel_ = noiseModel::Robust::Create(
noiseModel::mEstimator::Huber::Create(1.345), this->noiseModel_);
}
}
}
noiseModel_(model) {}
/// @name Standard Interface
/// @{