Reject negative sigma values in noise model constructors#2465
Merged
dellaert merged 1 commit intoborglab:developfrom Mar 12, 2026
Merged
Reject negative sigma values in noise model constructors#2465dellaert merged 1 commit intoborglab:developfrom
dellaert merged 1 commit intoborglab:developfrom
Conversation
Negative sigma values were silently accepted, producing nonsensical noise models. Add validation checks in Diagonal constructor, Isotropic::Sigma, and Isotropic::Variance to throw std::invalid_argument for negative values. Fixes borglab#695
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Creating a noise model with negative sigma values (e.g.,
noiseModel::Isotropic::Sigma(2, -2.0)) was silently accepted, producing a nonsensical noise model that behaves as a "repulsion" factor.Added validation checks that throw
std::invalid_argumentfor negative values in:Diagonalconstructor (catches all diagonal-based models)Isotropic::SigmaIsotropic::VarianceAdded unit test
NegativeSigmaThrowsto verify.Fixes #695