-
Notifications
You must be signed in to change notification settings - Fork 31
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Odometry disconnect at the end of long chains #382
Comments
another anecdotal piece of information is that the problem also occurred on a single long branch. |
Think this may be related to JuliaRobotics/IncrementalInference.jl#244 which has been postponed for the DFG and CSM upgrades. |
From the photo above, the triangle is |
All these loose fragments should also be computed in parallel btw. |
Ha, a little more progress. By looking closer I found that odometry factor x168--x169 is working the wrong way round for some reason, and then found this. The order of fields x168 and x169 is important here, but clearly wrong: @GearsAD , do you have any ideas here -- think we spoke a little while back on this but I cannot recall what we decided to do about Oh, and the factor graph here |
right, so part of the problem was that downward results were not being transferred from cliq sub graphs back to main dfg -- this was an oversight in the new CSM code. However, the issue is not yet fully resolved since downward messages from root into the target clique might have inconsistencies, and I'm looking specifically at that now. |
performance should be better with IIF v0.7.7 or greater. Keep open for rigorous testing |
need to retest -- currently on IIF v0.8.3 with many improvements since this issue was logged. |
Will re-evaluate after JuliaRobotics/IncrementalInference.jl#579 is fixed |
Odometry chains break towards the end of a longer chain?
Range-only factors, 190 Point2:
ex2-1.pdf
ex2-2.pdf
Range-only factors, 200 Point2:
ex1-1.pdf
ex1-2.pdf
See example script
here, with minimum number 171 point2s:
https://github.com/JuliaRobotics/Caesar.jl/blob/dynSAS/examples/marine/asv/kayaks/testRangeOnlyOdo.jl
Bayes Tree:
bt.pdf
The text was updated successfully, but these errors were encountered: