search

uzh-rpg / rpg_vikit

Vision-Kit provides some tools for your vision/robotics project.
120 stars 116 forks source link

When calculate standard deviation forget to divide error.size() #34

Open huhumeng opened 5 years ago

huhumeng commented 5 years ago

Hello, i find a bug in https://github.com/uzh-rpg/rpg_vikit/blob/10871da6d84c8324212053c40f468c6ab4862ee0/vikit_common/src/robust_cost.cpp#L84 which forget to divide the errors number to get a standard deviation. It may cause to large scale to weighted the residual, and cannot to suppress outliers.