Using a random number generator in translation averaging #1120
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I just realized there might have been an existing branch called "ta-seed", but looks like nothing has been changed on it. |
varunagrawal
approved these changes
Feb 28, 2022
gtsam/sfm/TranslationRecovery.cpp
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| // Create a lambda expression that checks whether value exists and randomly | ||
| // initializes if not. | ||
| Values initial; | ||
| auto insert = [&initial](Key j) { | ||
| auto insert = [&initial, &rng, &randomVal](Key j) { |
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I believe you can just do [&] to capture all the variables in the initializeRandomly scope.
dellaert
reviewed
Feb 28, 2022
gtsam/sfm/TranslationRecovery.h
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| * @param rng random number generator | ||
| * @return Values | ||
| */ | ||
| Values initializeRandomly(std::mt19937 &rng) const; |
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Actually, I think it should be std::mt19937 *rng: use a pointer for i/o, not a reference. This should also be fixed in all other cases, but let's not add another case.
dellaert
approved these changes
Mar 1, 2022
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Updated translation averaging to use a random number generator (RNG) just like Shonan averaging.