trying to include chi2
parent
be86b9b5d7
commit
fdced87b9a
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@ -29,7 +29,18 @@
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#include <gtsam/nonlinear/GncParams.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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//#include <boost/math/distributions/inverse_chi_squared.hpp>
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#include <boost/math/distributions/chi_squared.hpp>
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namespace gtsam {
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/*
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* Quantile of chi-squared distribution with given degrees of freedom at probability alpha.
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* Equivalent to chi2inv in Matlab.
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*/
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static double Chi2inv(const double alpha, const size_t dofs) {
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boost::math::chi_squared_distribution<double> chi2(dofs);
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return boost::math::quantile(chi2, alpha);
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}
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/* ************************************************************************* */
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template<class GncParameters>
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@ -55,6 +66,16 @@ class GncOptimizer {
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// make sure all noiseModels are Gaussian or convert to Gaussian
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nfg_.resize(graph.size());
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barcSq_ = Vector::Ones(graph.size());
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boost::math::chi_squared_distribution<double> chi2inv(3.0);
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std::cout << "chi2inv.degrees_of_freedom() = " << chi2inv.degrees_of_freedom() << std::endl;
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double a = boost::math::quantile(chi2inv, 0.997);
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std::cout << " a " << a << std::endl;
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double alpha = 0.99; // with this (default) probability, inlier residuals are smaller than barcSq_
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for (size_t i = 0; i < graph.size(); i++) {
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if (graph[i]) {
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NoiseModelFactor::shared_ptr factor = boost::dynamic_pointer_cast<
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@ -63,6 +84,7 @@ class GncOptimizer {
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noiseModel::Robust>(factor->noiseModel());
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// if the factor has a robust loss, we remove the robust loss
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nfg_[i] = robust ? factor-> cloneWithNewNoiseModel(robust->noise()) : factor;
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barcSq_[i] = 0.5 * Chi2inv(alpha, nfg_[i]->dim()); // 0.5 derives from the error definition in gtsam
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}
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}
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}
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