Turn off weighing by inliers

borglab · Jun 9, 2024 · 03d754d · 03d754d
1 parent eaf4c02
commit 03d754d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/gtsfm/averaging/rotation/shonan.py b/gtsfm/averaging/rotation/shonan.py
@@ -45,7 +45,7 @@ class ShonanRotationAveraging(RotationAveragingBase):
     def __init__(
         self,
         two_view_rotation_sigma: float = _DEFAULT_TWO_VIEW_ROTATION_SIGMA,
-        weight_by_inliers: bool = True,
+        weight_by_inliers: bool = False,
         use_mst_init: bool = True,
     ) -> None:
         """Initializes module.

diff --git a/gtsfm/configs/unified.yaml b/gtsfm/configs/unified.yaml
@@ -69,7 +69,7 @@ SceneOptimizer:
 
     rot_avg_module:
       _target_: gtsfm.averaging.rotation.shonan.ShonanRotationAveraging
-      weight_by_inliers: True
+      weight_by_inliers: False
 
     trans_avg_module:
       _target_: gtsfm.averaging.translation.averaging_1dsfm.TranslationAveraging1DSFM