Copyright (C) 2023 Computer Vision Lab, Electrical Engineering, 
Indian Institute of Science, Bengaluru, India.
All rights reserved.

This file is a part of the implementation for the paper:
Lalit Manam and Venu Madhav Govindu, Sensitivity in Translation Averaging, Neural Information Processing Systems, 2023.

This folder contains demo code and data for removing skewed triangles from a bearing-based network. 
The code is tested on Matlab 2023a.

Main file to run the code: Demo_Filter_Skewed_Triangles.m.
Demo Data: demo_data.mat.
It contains the edges list and relative directions all placed in a common reference frame. Refer to Lines 35 to 39 in Demo_Filter_Skewed_Triangles.m for the structure of the variables.

The code uses vectorized operations to identify and remove the skewed triangles in the network.
parfor is used only for fast construction of triplet graph (dependency: Parallel Computing Toolbox). To avoid using parfor comment line 118-121 and replace 'parfor' with 'for' in line 123 of Demo_Filter_Skewed_Triangles.m.

