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Robust triangulation #1020

Merged
merged 10 commits into from
Jan 18, 2022
Merged

Robust triangulation #1020

merged 10 commits into from
Jan 18, 2022

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lucacarlone
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Added option to use robust noise model during triangulation.

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@dellaert dellaert left a comment

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Very cool! Also asking a review from John Travis, more as an FYI. (Travis is not yet on GTSAM, apparently)

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@johnwlambert johnwlambert left a comment

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Very nice. LGTM

@lucacarlone
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@dellaert @johnwlambert thanks! I'll wait for @marcusabate to give it a try before merging.

Add python unit test for triangulation with robust noise model
@johnwlambert
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Hi @marcusabate could you take a look when you get a chance? This PR will be immediately useful for GTSFM so the sooner we can merge it, the better : - )

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@dellaert dellaert left a comment

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Awesome!

@dellaert dellaert merged commit a74da73 into develop Jan 18, 2022
@dellaert dellaert deleted the feature/robustTriangulation branch January 18, 2022 03:26
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3 participants