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Can you solve multiple orphaned graphs? #518

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keevindoherty opened this issue Jul 4, 2018 · 7 comments · Fixed by #519
Closed

Can you solve multiple orphaned graphs? #518

keevindoherty opened this issue Jul 4, 2018 · 7 comments · Fixed by #519
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bayes junction tree clique state machine feature request graph management inference transferred user experience
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v0.8.4

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@keevindoherty
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For example, a sequence of poses joined by factors and a separate landmark with a prior.
@dehann
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dehann commented Jul 5, 2018 •
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Hi,

Not yet in the current implementation but shouldn't be too hard to add that -- the solver can be repeated (in parallel) across all orphaned graphs. I'll add it to a milestone as a feature request. Thanks for commenting!

@dehann
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dehann commented Jun 25, 2019

xref JuliaRobotics/Caesar.jl#279

@dehann
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dehann commented Oct 16, 2019

fixed this by accident (seriously). new CSM in IIF v0.7.x allows for forest of trees to be solved.

@dehann dehann closed this as completed Oct 16, 2019
@dehann dehann reopened this Dec 13, 2019
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dehann commented Dec 13, 2019

still a bug somewhere a few cases.

@dehann dehann transferred this issue from JuliaRobotics/Caesar.jl Jan 5, 2020
@dehann dehann added this to the v0.8.4 milestone Jan 5, 2020
@dehann dehann mentioned this issue Jan 5, 2020
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@Affie
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Affie commented Jan 15, 2020

One bug is related to buildCliquePotentials. It starts from clique 1 and follows children. So an orphaned tree section does not have its potentials build.
Looking for all the roots isRoot(tree, cliqId) and then traversing the tree from all cliqId (and not 1) fixes this.

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dehann commented Jan 16, 2020

Right, that makes sense thanks for pushing the fix up too!

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dehann commented Jan 16, 2020

Note for later readers, this issues was transferred over from Caesar.jl, and is now fixed with PR #519

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bayes junction tree clique state machine feature request graph management inference transferred user experience
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[TESTING] for orphaned FGs JuliaRobotics/IncrementalInference.jl
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@dehann @Affie @keevindoherty