Add GNC rotation averaging

Open travisdriver opened this issue 2 years ago • 3 comments

Dec 19 '23 06:12 travisdriver

Shonan weighted by # of inlier matches (IW-Shonan)

Huge improvements across the board.

**The CI failed for Place of Fine Arts due to memory issues during the Shonan optimization step (had to increase p_max), but I was able to run it just fine on my desktop and Shonan optimization only took a fraction of a second.

newplot (27)

visual_comparison_dashboard.zip

Dec 20 '23 22:12 travisdriver

@dellaert Is there any other way to enable the Huber loss for Shonan other than the setUseHuber parameter? From what I can tell, the current API doesn't allow us to tune the parameter k for the Huber loss, which defaults to 1.345. Also, how was this default value determined?

Dec 20 '23 23:12 travisdriver

IW-Shonan w/ Huber Loss

Huber is still not effective.

newplot (29)

visual_comparison_dashboard.zip

Dec 21 '23 04:12 travisdriver