Fix/gnc optimizer #1035
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Fix/gnc optimizer #1035
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Contributor
lucacarlone
commented
Jan 13, 2022
•
lucacarlone
commented
- fixed corner cases in which mu = 0 or weights become negative
- improved verbosity handling
- added clone function to support PoseToPointFactor
added 7 commits
December 19, 2021 10:41
…rPoseToPointFactor
varunagrawal
approved these changes
Apr 19, 2022
| @@ -190,13 +193,14 @@ Point3 triangulateNonlinear(const std::vector<Pose3>& poses, | |||
| template<class CAMERA> | |||
| Point3 triangulateNonlinear( | |||
| const CameraSet<CAMERA>& cameras, | |||
| const typename CAMERA::MeasurementVector& measurements, const Point3& initialEstimate) { | |||
| const typename CAMERA::MeasurementVector& measurements, const Point3& initialEstimate, | |||
| const SharedNoiseModel& model = nullptr) { | |||
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Even these top-level methods can take the same default maybe?
lucacarlone
added
enhancement
|
@lucacarlone I am merging this in! |
|
yay! thanks @varunagrawal ! |
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