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MarineRoboticsGroup / dcsam

Factored inference for discrete-continuous smoothing and mapping.
https://arxiv.org/abs/2204.11936
MIT License
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Normalization Constant Sign Bug #10

Closed DanMcGann closed 3 years ago

DanMcGann commented 3 years ago

It appears that there is a minor bug in the computation of a DCFactor normalization constant.

https://github.com/MarineRoboticsGroup/dcsam/blob/92af419911d3edfadff35ffe322d7a180fcdfdd5/include/dcsam/DCFactor.h#L228-L230

Specifically, the sign of the d/2 log(2 * pi) term. It would be worth it to double check my maths, but I derive that that term is positive... image

While this does not affect the maximal component, it would cause issues if one assumes that errors are properly normalized.

keevindoherty commented 3 years ago

Hi @DanMcGann - this is a great catch. Thanks for this! Yes, your math looks right :)

I'll push a fix for this ASAP.