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add useLOST to triangulateSafe #1517

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Merged
merged 1 commit into from
Sep 4, 2023
Merged

add useLOST to triangulateSafe #1517

merged 1 commit into from
Sep 4, 2023

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dllu
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@dllu dllu commented Apr 19, 2023 •
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adds a way to use the new LOST triangulation in triangulateSafe by setting the useLOST parameter in TriangulationParameters accordingly.

By the way, what version of clang-format do people use? for some reason when I ran clang-format -i gtsam/geometry/triangulation.h it resulted in many changed lines (using clang-format version 10.0.0-4ubuntu1).

@zubingtan
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If I understand correctly and as discussed in #1503, we should only format the section you modify. If you are using VScode, you can select the section and click the right menu button and use Format Section. cc @dellaert

@akshay-krishnan
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Thanks @dllu , it would be great if you could also add a unit test for triangulateSafe with useLOST=True here:

gtsam/gtsam/geometry/tests/testTriangulation.cpp

Line 515 in 7a3b955

TEST(triangulation, outliersAndFarLandmarks) {

@varunagrawal
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@dllu gentle reminder

dellaert
dellaert approved these changes Sep 4, 2023
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I'm just going to approve and merge.

@dellaert dellaert merged commit 52ecb09 into borglab:develop Sep 4, 2023
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@dellaert dellaert dellaert approved these changes

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

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@dllu @zubingtan @akshay-krishnan @varunagrawal @dellaert