autoinit vs setValKDE

[mc2922]

This initialization procedure with setValKDE appears to take into account tight GPS priors correctly, whereas doautoinit appears to initialize around (0,0) only.

for sm in [Symbol("x$i") for i in 1:5]
  IIF.doautoinit!(fg,sm)
  setValKDE!(getVert(fg,sm),kde!(getSample(getfnctype(getVert(fg, Symbol("$(sm)f1"),nt=:fnc)),N)[1]))
end

See: PropFac/examples/testBackwards.jl

[dehann]

Thanks, this is useful information -- I will get this fixed!

[pvazteixeira]

function manual_init(fgl::FactorGraph, sym::Symbol, usefct::Symbol)
  # developed when autoinit was not working properly -- should be used with care
  warn("manual_init being used as a workaround for temporary autoinit issues.")
  pts = IIF.approxConv(fgl, usefct, sym)
  X2pre = KDE.kde!(pts)
  IIF.setValKDE!(fgl, sym, X2pre)
  getData(fgl, sym).initialized = true
  nothing
end

[dehann]

also see, eg. manualinit!(fg, :l0, [:l0f1]), updated in #238

[dehann]

partially related to tree based initialization.

[dehann]

mostly resolved through tree initialization introduced during v0.6.x