Jeffin Francis

@luisenp Is this issue still open ?

@luisenp Can you please guide me. I would like to work on it

@mhmukadam Sorry i was not able to work on this,was a little busy. I will let u know if i encounter any questions

@luisenp @mhmukadam [Guass_Netwon](https://github.com/facebookresearch/theseus/blob/main/theseus/optimizer/nonlinear/gauss_newton.py) in the `compute_delta` function it just call the `self.linear_solver.solve()`. I can't find the exact computations for the \delta_{gn} so i'm a little confused how to proceed. Also...

@luisenp Will the `compute_delta` function for `dogleg` optimizer returns `self.linear_solver.linearization.Ata * self.linear_solver.linearization.Atb` , Something like this ?

@luisenp Sorry for the late reply.I missed the comments. Thank you for the reference. I will take a look and update you on this ASAP. Again Sorry for the late...

@luisenp we need to calculate the `delta_sd`=`-J'F(x)`, here `J` and `F(x)` which can be accessed using `self.linear_solver.linearization.Atb`. When looking at this link [link](https://github.com/borglab/gtsam/blob/ba6e91ba4970ae22608502d4de4079f226c7c546/gtsam/nonlinear/DoglegOptimizerImpl.cpp#L25) our `compute_delta` function will need 3 inputs...

@mhmukadam Sorry I was really caught up at work. May be you can assign others

@NorthLatitudeOne i got a similar error `'error': "Inference error : 'in'"}` Did you find any solution for this ? I also tried with the given model in Readme still the...

@ymd-stella Can yo please explain this issue ?