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Bump up shonan optimality threshold param #805

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Bump up shonan optimality threshold param #805

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4 changes: 4 additions & 0 deletions gtsfm/averaging/rotation/shonan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@

_DEFAULT_TWO_VIEW_ROTATION_SIGMA = 1.0

# The threshold for the smallest eigenvalue check in GTSAM. Defaults to -1e-4 in GTSAM.
_OPTIMALITY_THRESHOLD = -1e-5


class ShonanRotationAveraging(RotationAveragingBase):
"""Performs Shonan rotation averaging."""
Expand Down Expand Up @@ -60,6 +63,7 @@ def __get_shonan_params(self) -> ShonanAveragingParameters3:
shonan_params = ShonanAveragingParameters3(lm_params)
shonan_params.setUseHuber(False)
shonan_params.setCertifyOptimality(True)
shonan_params.setOptimalityThreshold(_OPTIMALITY_THRESHOLD)
return shonan_params

def __measurements_from_2view_relative_rotations(
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