Skip to content
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.

Sign up for GitHub

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

Jump to bottom

Bug in probPrime #1032

Closed
varunagrawal opened this issue Jan 12, 2022 · 0 comments · Fixed by #1034
Closed

Bug in probPrime #1032

varunagrawal opened this issue Jan 12, 2022 · 0 comments · Fixed by #1034
Assignees
@varunagrawal
Labels
bug Bug report

Comments

@varunagrawal
Copy link
Collaborator

Description

probPrime in GaussianFactorGraph applies a 0.5 constant to the error, however each factor already applies 0.5 when computing its error, so the extra 0.5 is wrong.

Steps to reproduce

We can reproduce this with a simple unit test on a JacobianFactor.

Expected behavior

The probPrime should be correct.

Environment

Additional information
@varunagrawal varunagrawal added the bug Bug report label Jan 12, 2022
@varunagrawal varunagrawal self-assigned this Jan 12, 2022
@varunagrawal varunagrawal mentioned this issue Jan 12, 2022
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@varunagrawal varunagrawal

Labels
bug Bug report
Projects
None yet
Milestone
No milestone
Development

Successfully merging a pull request may close this issue.

Fix probPrime borglab/gtsam
1 participant
@varunagrawal