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Add GNC rotation averaging#759

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travisdriver wants to merge 15 commits intomasterborglab/gtsfm:masterfrom add/gnc_rotation_averagingborglab/gtsfm:add/gnc_rotation_averagingCopy head branch name to clipboard

+549-20

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Commits on Dec 19, 2023

• Add GNC rotation averaging

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  8ad3453

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• Update unified config

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• Add combined Shonan and GNC

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Commits on Dec 20, 2023

• Switch to combined Shonan and GNC

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• Increase num_matched to 10

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• Initialize GNC with MST

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• Debugging MST

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• Remove MST max iterations

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• Use Shonan weighted by # inliers

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• Increase max p to 64

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• Use Huber loss

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• Use Huber

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Commits on Dec 21, 2023

• Weight GNC with matches

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• Dummy push to make CI run

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• IW-Shonan w/ Huber

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