Deprecate GTSAM_SLOW_BUT_CORRECT_EXPMAP
#2043
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Some of the failing tests are because of quite different results (e.g. |
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@dellaert the TSAM factor tests are failing with wildly different Jacobians (e.g. values of 7 in expected and 3 in actual). It might be something with how the factor Jacobians are being computed. Any thoughts since I am not super familiar with this at the moment? |
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I'll take a look, please review Hat&Vee PR? |
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I fixed all tests (on my MacBook) but had to comment out a test in GnC, @lucacarlone |
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Okay nice, I had similar fixes locally but wanted to double check with you. |
dellaert
requested changes
Mar 9, 2025
cmake/HandleGeneralOptions.cmake
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| option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" OFF) | ||
| option(GTSAM_SLOW_BUT_CORRECT_EXPMAP "Use slower but correct expmap for Pose2" ON) | ||
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| message(WARNING "GTSAM_SLOW_BUT_CORRECT_EXPMAP has been deprecated and will be removed in a future release.") |
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Set
GTSAM_SLOW_BUT_CORRECT_EXPMAPto ON by default and print deprecation warning.This is based on findings by @dellaert and I on the accuracy of the exponential map of
Pose2for hybrid state estimation with the City10000 dataset.With the flag off, we get
where the trajectory is elongated.
With the flag on, we get a better trajectory.
Similar results can be seen for longer trajectories (e.g. 220 timesteps).
Flag OFF
Flag ON