fix deconv and mixture

JuliaRobotics · Oct 16, 2023 · 0888e90 · 0888e90
1 parent c8ecc22
commit 0888e90
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Showing 3 changed files with 4 additions and 6 deletions.
diff --git a/src/Factors/Mixture.jl b/src/Factors/Mixture.jl
@@ -126,7 +126,8 @@ function sampleFactor(cf::CalcFactor{<:Mixture}, N::Int = 1)
     cf.cache,
     cf.fullvariables,
     cf.solvefor,
-    cf.manifold
+    cf.manifold,
+    cf.measurement
   )
   smpls = [getSample(cf_) for _ = 1:N]
   # smpls = Array{Float64,2}(undef,s.dims,N)

diff --git a/src/services/DeconvUtils.jl b/src/services/DeconvUtils.jl
@@ -71,9 +71,6 @@ function approxDeconv(
 
   islen1 = zDim == 1
 
-  # FIXME, is this still in use
-  destVarVals = Vector{Int}()
-
   for idx = 1:N
     # towards each particle in their own thread (not 100% ready yet, factors should be separate memory)
     target_smpl = makeTarget(idx)
@@ -82,7 +79,7 @@ function approxDeconv(
     resize!(ccw.hyporecipe.activehypo, length(hyporecipe.activehypo[2][2]))
     ccw.hyporecipe.activehypo[:] = hyporecipe.activehypo[2][2]
 
-    onehypo!, _ = _buildCalcFactorLambdaSample(ccw, idx, target_smpl, measurement)
+    onehypo! = _buildCalcFactorLambdaSample(ccw, idx, measurement)
     #
 
     # lambda with which to find best measurement values

diff --git a/src/services/NumericalCalculations.jl b/src/services/NumericalCalculations.jl
@@ -74,7 +74,7 @@ end
 # struct OptimCalcConv end
 # CalcFactorNormSq cost function for an input in coordinates as used by Optim.jl
 function (hypoCalcFactor::CalcFactorNormSq)(M::AbstractManifold, Xc::AbstractVector)
-  # M = hypoCalcFactor.manifold # calc factor has factor manifold in not variable that is needed here
+  # hypoCalcFactor.manifold is the factor's manifold, not the variable's manifold that is needed here
   ϵ = getPointIdentity(M)
   X = get_vector(M, ϵ, Xc, DefaultOrthogonalBasis())
   p = exp(M, ϵ, X)