towards DFG 19

Project.toml

@@ -36,7 +36,7 @@ TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 [compat]
 ApproxManifoldProducts = "0.6.2"
 CoordinateTransformations = "0.5, 0.6"
-DistributedFactorGraphs = "0.18.4"
+DistributedFactorGraphs = "0.18.4, 0.19"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"

src/canonical/GenerateHelix.jl

@@ -22,7 +22,7 @@ function generateGraph_Helix2D!(numposes::Integer = 40;
                                 graphinit = nothing,
                                 useMsgLikelihoods = nothing,
                                 solverParams::SolverParams = SolverParams(;graphinit=false),
-                                dfg::AbstractDFG = LightDFG{SolverParams}(;solverParams),
+                                dfg::AbstractDFG = LocalDFG{SolverParams}(;solverParams),
                                 radius::Real = 10,
                                 spine_t = (t)->0 + im*0,
                                 xr_t::Function = (t)->real(spine_t(t)),
@@ -63,7 +63,7 @@ function generateGraph_Helix2D!(numposes::Integer = 40;
   # select the starting point
   _μ0 = μ0
   # @show _μ0 = 1 == bidx ? μ0 : getPPE(dfg, lastpose, refKey).suggested
-  Tμ = SE2(_μ0-[0;0;pi/2])
+  Tμ = SE2(_μ0-[0;0;pi/2]) # TODO update to Manifolds.jl
 
   # current end pose count for number of turns
   eidx = 1

test/testScalarFields.jl

@@ -1,5 +1,6 @@
 # test scalar field
 
+# using Revise
 using Test
 using ImageCore, ImageIO
 using TensorCast
@@ -135,6 +136,9 @@ end
 # Gadfly.set_default_plot_size(35cm,20cm)
 
 # plotSLAM2D_KeyAndRef(fg)
-
+# imshow(img)
 
 ##
+
+
+