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Use MST initialization with huber loss #802

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Use MST initialization with huber loss #802

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ayushbaid
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@ayushbaid
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This seems to do better

ba
ra

@akshay-krishnan
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@ayushbaid the diff is against "MST w/o Huber", not "no MST" right? Are we still seeing regressions when compared to "no MST"?

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@ayushbaid the diff is against "MST w/o Huber", not "no MST" right? Are we still seeing regressions when compared to "no MST"?

The metrics are compared against master though

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@ayushbaid the diff is against "MST w/o Huber", not "no MST" right? Are we still seeing regressions when compared to "no MST"?

The metrics are compared against master though

Yes, I meant the diff in metrics.

ayushbaid added 3 commits May 25, 2024 21:21
@ayushbaid
Merge branch 'feature/shonan_mst_init' into feature/shonan_mst_huber
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@ayushbaid
Bump up shonan optimality threshold param
eaf4c02 
This commit passes in the optimality treshold explicitly from GTSFM: a value of `-1e-5` compared to `-1e-4` default value.
I tried using 0 and `1e-5` (value used in paper for large datasets) but even the unit tests are taking up a lot of time with higher thresholds.
@ayushbaid
Turn off weighing by inliers
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travisdriver
travisdriver requested changes Jun 14, 2024
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Why did you turn off inlier weighting?

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Also, are you sure inlier weighting was turned on it master when you compared? I vaguely remember @akshay-krishnan accidently turning it off in master.

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Why did you turn off inlier weighting?

It was just for experimentation and comparing different sets of values.

Inlier weighting is on right now on master.

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@travisdriver travisdriver travisdriver requested changes

@akshay-krishnan akshay-krishnan Awaiting requested review from akshay-krishnan

@johnwlambert johnwlambert Awaiting requested review from johnwlambert

@dellaert dellaert Awaiting requested review from dellaert

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@ayushbaid @akshay-krishnan @travisdriver