Changes to Hessian-Sum-Mixture to match latest paper version

decargroup · Aug 26, 2024 · fdcb840 · fdcb840
1 parent 356fa0d
commit fdcb840
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Showing 2 changed files with 162 additions and 119 deletions.
diff --git a/examples/ex_gaussian_mixture.py b/examples/ex_gaussian_mixture.py
@@ -1,19 +1,16 @@
+import matplotlib.pyplot as plt
+import numpy as np
+
 from navlie.batch.gaussian_mixtures import (
     GaussianMixtureResidual,
+    HessianSumMixtureResidual,
     MaxMixtureResidual,
-    SumMixtureResidual,
     MaxSumMixtureResidual,
-    HessianSumMixtureResidual,
+    SumMixtureResidual,
 )
+from navlie.batch.problem import Problem
 from navlie.batch.residuals import PriorResidual
-
 from navlie.lib.states import VectorState
-import os
-import matplotlib.pyplot as plt
-import numpy as np
-import seaborn as sns
-from pathlib import Path
-from navlie.batch.problem import Problem
 
 
 def main():
@@ -36,7 +33,7 @@ def main():
         "Sum-Mixture": SumMixtureResidual(component_residuals, weights),
         "Max-Sum-Mixture": MaxSumMixtureResidual(component_residuals, weights, 10),
         "Hessian-Sum-Mixture": HessianSumMixtureResidual(
-            component_residuals, weights, True, 0.1
+            component_residuals, weights, True
         ),
     }