From 09a2e2ebd46a459099ef2a9a1663e0f9783cd61b Mon Sep 17 00:00:00 2001
From: Ayush Baid <ayushrakeshbaid@gmail.com>
Date: Mon, 18 Jan 2021 09:52:02 -0500
Subject: [PATCH] changing robust noise model to Gaussian

---
 gtsam/sfm/ShonanAveraging.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
index 5957047a3b..a0e615e9be 100644
--- a/gtsam/sfm/ShonanAveraging.cpp
+++ b/gtsam/sfm/ShonanAveraging.cpp
@@ -880,9 +880,7 @@ static BinaryMeasurement<Rot3> convert(
         "parseMeasurements<Rot3> can only convert Pose3 measurements "
         "with Gaussian noise models.");
   const Matrix6 M = gaussian->covariance();
-  auto model = noiseModel::Robust::Create(
-      noiseModel::mEstimator::Huber::Create(1.345),
-      noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3)));
+  auto model = noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3));
   return BinaryMeasurement<Rot3>(f->key1(), f->key2(), f->measured().rotation(),
                                  model);
 }