Merge pull request #675 from borglab/fix/shonan-noise-model-from-factor

changing robust noise model to Gaussian
borglab · Jan 19, 2021 · 654995e · 654995e
2 parents c383b6c + 09a2e2e
commit 654995e
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
@@ -880,9 +880,7 @@ static BinaryMeasurement<Rot3> convert(
         "parseMeasurements<Rot3> can only convert Pose3 measurements "
         "with Gaussian noise models.");
   const Matrix6 M = gaussian->covariance();
-  auto model = noiseModel::Robust::Create(
-      noiseModel::mEstimator::Huber::Create(1.345),
-      noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3)));
+  auto model = noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3));
   return BinaryMeasurement<Rot3>(f->key1(), f->key2(), f->measured().rotation(),
                                  model);
 }