Re-visiting Logmap #2106
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Re-visiting Logmap #2106
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I thought about this for a while, and I think the best possible solutions are: Also could look into what Sophus is doing, need a bit of time for that |
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In issue 1233 the behavior of Logmap was examined in detail, and a regression from GTSAM 4.0.3 to 4.2a7 was noted. In SO3.ipynb those graphs are reproduced so the issue can be further examined.
@ProfFan I'm at a loss right now how to simultaneously resolve #1233 and #887.