Dehann Fourie

Tree elimination is bad, and therefore get incomplete cliques. This issue was caused by inconsistent `solvable` flags between variables and factors. In this case fg had 8 variables with 9...

```julia ERROR: LoadError: MethodError: no method matching AliasingScalarSampler(::StepRangeLen{Float64, Base.TwicePrecision{Float64}, Base.TwicePrecision{Float64}}, ::Vector{Float64}) Closest candidates are: AliasingScalarSampler(::Vector{var"#s79"} where var"#s79"

Documenting CSM and inference steps for debugging

19

EDIT, some of these code snippets are out of date. ### Console ```julia # save clique subgraphs during inference at critical steps getSolverParams(fg).dbg = true # record CSM steps for...

[Feature] Allow for "Rao-Blackwellized" calibration

2

define a factor where there static calibration parameters (such as extrinsics) can be solved as a separate inference problem after the primary SLAM solution completes. These two solves could in...

Currently restricted to only first thread.

add basic test to ensure getSamples is producing unique samples

1

Came across a new case with new `unrollHypo` where only first `smpid` is used in the construction of the lambda. Easiest to see during ~~`approxConv`~~`getSamples`. ~~Likely requires a back port...

- [ ] Reaffirm factor collection start from the root or the leaves. - [ ] Build factor selection based on `csmc.cliqSubFg` instead. - [ ] Rather part of CSM...

see new package https://github.com/JuliaRobotics/VariableEliminationOrderings.jl ## Background - https://www.coursera.org/lecture/probabilistic-graphical-models-2-inference/finding-elimination-orderings-ckOIz - Local Caesar.jl [Wiki page of known references](https://github.com/JuliaRobotics/Caesar.jl/wiki/Variable-Ordering-References) - Papers and thesis [Caesar literature page](https://juliarobotics.org/Caesar.jl/latest/refs/literature/) - https://en.wikipedia.org/wiki/Variable_elimination ## Existing Usage in IncrementalInference...

ensure VariableType dims matches values stored in `.val`

1

cc @jim-hill-r

CSM, downsolve only API w/ existing upsolved state

4

should be able to call `solveTree!` to do only a downsolve: ```julia getSolverParams(fg).upsolve = false getSolverParams(fg).downsolve = true ``` The upsolve only case is/was already working.