From 67d5fffe39eccb2651554b40e0cfb94f7fed2d64 Mon Sep 17 00:00:00 2001
From: Peter Abeles <peter.abeles@gmail.com>
Date: Wed, 29 Nov 2023 18:06:59 -0800
Subject: [PATCH] ThreeViewEstimateMetricScene - Added comment for why loss
 functions aren't used

---
 .../boofcv/alg/structure/ThreeViewEstimateMetricScene.java  | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
index e9ef086a0b..9b1776c869 100644
--- a/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
+++ b/main/boofcv-reconstruction/src/main/java/boofcv/alg/structure/ThreeViewEstimateMetricScene.java
@@ -141,6 +141,12 @@ public ThreeViewEstimateMetricScene() {
 		configSBA.optimizer.type = ConfigNonLinearLeastSquares.Type.LEVENBERG_MARQUARDT;
 		configSBA.optimizer.lm.dampeningInitial = 1e-3;
 		configSBA.optimizer.lm.hessianScaling = false;
+
+		// Using loss function wasn't found to improve results in regression tests
+		// in 3-view regression it was a wash. No runtime improvement either by removing second SBA cycle.
+		// In full-blown reconstructions it degraded a few scenarios.
+//		configSBA.loss.type = ConfigLoss.Type.HUBER;
+//		configSBA.loss.parameter = 1.0;
 	}
 
 	/**