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Fix testParametricSimulated for Manifolds #503

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merged 1 commit into from
Sep 12, 2021
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Affie
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@Affie Affie commented Sep 12, 2021

Replaces and close #444

Broken testset: Broken Testset for RoME
Results: pass:0 broken:0 fail:0 error:0
Broken Testset for RoME summary:
Pass:399
Broken:6
Fail:39
Error:0

@Affie Affie added this to the v0.16.0 milestone Sep 12, 2021
@Affie Affie self-assigned this Sep 12, 2021
@Affie Affie merged commit 8deea1e into master Sep 12, 2021
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dehann commented Sep 12, 2021

moved to new IIF issue at JuliaRobotics/IncrementalInference.jl#1386

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Affie commented Sep 13, 2021

Yes, I saw that one. I couldn't figure out what was wrong and ran out of time. I would like to see the fix.

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dehann commented Sep 13, 2021

@Affie, I think the problem is because approxDeconv now returns tangents, where in IIF v0.24 it was assumed to be coordinates.

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dehann commented Sep 13, 2021

The params.useMsgLikelihoods code is creating new factors from MKD where the ProductRepr consists of a tangent rather than a point. Short answer is a consistent method of retraction needed in the joint message differential factors -- i.e. the tangent expansion manifold point must be incorporated.

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dehann commented Sep 13, 2021

I'll open a new issue and we can work from there.

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