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Add additional tests of ransac with groups. #55

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Merged
merged 1 commit into from
Oct 9, 2018
Merged

Add additional tests of ransac with groups. #55

merged 1 commit into from
Oct 9, 2018

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@akleeman akleeman commented Oct 9, 2018 •
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RANSAC wasn't working with groups, mostly because the negative log likelihood computation was wrong for joint distributions!

  • Adds further tests of the negative log likelihood functions.
  • Adds test for group indexed RANSAC
  • Moves a few helper functions around.

@akleeman akleeman requested a review from benjamin0 October 9, 2018 23:27
@akleeman akleeman merged commit 4fd5a10 into swift-nav:master Oct 9, 2018
@akleeman akleeman deleted the ransac_testing branch October 9, 2018 23:43
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@benjamin0 benjamin0 benjamin0 approved these changes

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@akleeman @benjamin0