Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Gnc enhancements #765

Merged
merged 8 commits into from
May 26, 2021
Merged

Gnc enhancements #765

merged 8 commits into from
May 26, 2021

Conversation

lucacarlone
Copy link
Contributor

@lucacarlone lucacarlone commented May 10, 2021 •
edited
Loading

  • added interface to specify known outliers in GNC
  • added example with GNC

dellaert
dellaert reviewed May 11, 2021
View reviewed changes
Copy link
Member

@dellaert dellaert left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM, but Jingnan should probably the one to do a thorough review and sign off?

PS I know I'm behind on the other PR - semester is now over and I might get some time back to look at it...

@lucacarlone
Copy link
Contributor Author

@dellaert : no hurry!
@jingnanshi : I mostly added extra interfaces the user can use. They are well tested, but let me know if you see something off or you have speedups to suggest

jingnanshi
jingnanshi reviewed May 21, 2021
View reviewed changes
gtsam/nonlinear/GncOptimizer.h Outdated
std::inserter(unknownWeights, unknownWeights.begin()));

// update weights of known inlier/outlier measurements
switch (params_.lossType) {
case GncLossType::GM: { // use eq (12) in GNC paper
for (size_t k : unknownWeights) {
if (nfg_[k]) {
if (nfg_[k]) {
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

nitpick: there's an extra space here

jingnanshi
jingnanshi approved these changes May 21, 2021
View reviewed changes
Copy link
Contributor

@jingnanshi jingnanshi left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

👍 Left one formatting comment.

@lucacarlone
Copy link
Contributor Author

@jingnanshi - thanks!
@dellaert : this should be ready to go.

@dellaert
Copy link
Member

Awesomesauce! will merge.

@dellaert dellaert merged commit 289ce4b into develop May 26, 2021
@dellaert dellaert deleted the gnc-enhancements branch May 26, 2021 14:27
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@dellaert dellaert dellaert left review comments

@jingnanshi jingnanshi jingnanshi approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@lucacarlone @dellaert @jingnanshi