{"action":"created","issue":{"url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/236","repository_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl","labels_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/236/labels{/name}","comments_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/236/comments","events_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/236/events","html_url":"https://github.com/JuliaRobotics/IncrementalInference.jl/issues/236","id":422279875,"node_id":"MDU6SXNzdWU0MjIyNzk4NzU=","number":236,"title":"Multihypo seems to be doing the wrong thing on 1D scalar example?","user":{"login":"keevindoherty","id":6745115,"node_id":"MDQ6VXNlcjY3NDUxMTU=","avatar_url":"https://avatars0.githubusercontent.com/u/6745115?v=4","gravatar_id":"","url":"https://api.github.com/users/keevindoherty","html_url":"https://github.com/keevindoherty","followers_url":"https://api.github.com/users/keevindoherty/followers","following_url":"https://api.github.com/users/keevindoherty/following{/other_user}","gists_url":"https://api.github.com/users/keevindoherty/gists{/gist_id}","starred_url":"https://api.github.com/users/keevindoherty/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/keevindoherty/subscriptions","organizations_url":"https://api.github.com/users/keevindoherty/orgs","repos_url":"https://api.github.com/users/keevindoherty/repos","events_url":"https://api.github.com/users/keevindoherty/events{/privacy}","received_events_url":"https://api.github.com/users/keevindoherty/received_events","type":"User","site_admin":false},"labels":[{"id":355000804,"node_id":"MDU6TGFiZWwzNTUwMDA4MDQ=","url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/labels/bug","name":"bug","color":"ee0701","default":true},{"id":1041740062,"node_id":"MDU6TGFiZWwxMDQxNzQwMDYy","url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/labels/documentation","name":"documentation","color":"f226c9","default":false},{"id":1079782821,"node_id":"MDU6TGFiZWwxMDc5NzgyODIx","url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/labels/example","name":"example","color":"7ded9d","default":false},{"id":1068296668,"node_id":"MDU6TGFiZWwxMDY4Mjk2NjY4","url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/labels/inference","name":"inference","color":"b57715","default":false},{"id":1034462645,"node_id":"MDU6TGFiZWwxMDM0NDYyNjQ1","url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/labels/multihypothesis","name":"multihypothesis","color":"f2a2f2","default":false}],"state":"open","locked":false,"assignee":{"login":"dehann","id":6412556,"node_id":"MDQ6VXNlcjY0MTI1NTY=","avatar_url":"https://avatars0.githubusercontent.com/u/6412556?v=4","gravatar_id":"","url":"https://api.github.com/users/dehann","html_url":"https://github.com/dehann","followers_url":"https://api.github.com/users/dehann/followers","following_url":"https://api.github.com/users/dehann/following{/other_user}","gists_url":"https://api.github.com/users/dehann/gists{/gist_id}","starred_url":"https://api.github.com/users/dehann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dehann/subscriptions","organizations_url":"https://api.github.com/users/dehann/orgs","repos_url":"https://api.github.com/users/dehann/repos","events_url":"https://api.github.com/users/dehann/events{/privacy}","received_events_url":"https://api.github.com/users/dehann/received_events","type":"User","site_admin":false},"assignees":[{"login":"dehann","id":6412556,"node_id":"MDQ6VXNlcjY0MTI1NTY=","avatar_url":"https://avatars0.githubusercontent.com/u/6412556?v=4","gravatar_id":"","url":"https://api.github.com/users/dehann","html_url":"https://github.com/dehann","followers_url":"https://api.github.com/users/dehann/followers","following_url":"https://api.github.com/users/dehann/following{/other_user}","gists_url":"https://api.github.com/users/dehann/gists{/gist_id}","starred_url":"https://api.github.com/users/dehann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dehann/subscriptions","organizations_url":"https://api.github.com/users/dehann/orgs","repos_url":"https://api.github.com/users/dehann/repos","events_url":"https://api.github.com/users/dehann/events{/privacy}","received_events_url":"https://api.github.com/users/dehann/received_events","type":"User","site_admin":false}],"milestone":{"url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/milestones/21","html_url":"https://github.com/JuliaRobotics/IncrementalInference.jl/milestone/21","labels_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/milestones/21/labels","id":4127393,"node_id":"MDk6TWlsZXN0b25lNDEyNzM5Mw==","number":21,"title":"v0.5.5","description":null,"creator":{"login":"dehann","id":6412556,"node_id":"MDQ6VXNlcjY0MTI1NTY=","avatar_url":"https://avatars0.githubusercontent.com/u/6412556?v=4","gravatar_id":"","url":"https://api.github.com/users/dehann","html_url":"https://github.com/dehann","followers_url":"https://api.github.com/users/dehann/followers","following_url":"https://api.github.com/users/dehann/following{/other_user}","gists_url":"https://api.github.com/users/dehann/gists{/gist_id}","starred_url":"https://api.github.com/users/dehann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dehann/subscriptions","organizations_url":"https://api.github.com/users/dehann/orgs","repos_url":"https://api.github.com/users/dehann/repos","events_url":"https://api.github.com/users/dehann/events{/privacy}","received_even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seems like the example below produces some funky marginals...\r\nI'm on Julia 0.6.3\r\n\r\nPackage versions:\r\n- IIF: 0.3.8+ master\r\n- RoME 0.1.6+ master\r\n- RoMEPlotting 0.0.1+ master\r\n- Distributions 0.15.0\r\n- KernelDensityEstimate 0.3.1+ master\r\n\r\n```julia\r\nusing IncrementalInference, RoME, RoMEPlotting, Distributions, KernelDensityEstimate\r\n\r\nlm_prior_noise = 0.01\r\nmeas_noise = 0.25\r\nodom_noise = 0.1\r\nn_samples = 200\r\n\r\n# initialize mean landmark locations\r\nl0 = 0.0\r\nl1 = 1.0\r\nl2 = 4.0\r\n\r\n# \"Ground-truth\" robot poses\r\nx0 = 0.0\r\nx1 = 1.0\r\nx2 = 2.0\r\nx3 = 4.0\r\n\r\n# Initialize empty factor graph\r\nfg = initfg()\r\n\r\n# Place strong prior on locations of three \"doors\"\r\naddNode!(fg, Symbol(\"l0\"), ContinuousScalar, N=n_samples)\r\naddFactor!(fg, [:l0], RoME.Prior(Normal(l0, lm_prior_noise)))\r\n\r\naddNode!(fg, Symbol(\"l1\"), ContinuousScalar, N=n_samples)\r\naddFactor!(fg, [:l1], RoME.Prior(Normal(l1, lm_prior_noise)))\r\n\r\naddNode!(fg, Symbol(\"l2\"), ContinuousScalar, N=n_samples)\r\naddFactor!(fg, [:l2], RoME.Prior(Normal(l2, lm_prior_noise)))\r\n\r\n# Add first pose\r\naddNode!(fg, Symbol(\"x0\"), ContinuousScalar, N=n_samples)\r\n\r\n# Make first \"door\" measurement\r\naddFactor!(fg, [:x0; :l0; :l1; :l2], LinearConditional(Normal(0, meas_noise)), multihypo=[1.0; 1.0/3.0; 1.0/3.0; 1.0/3.0])\r\n\r\n# Add second pose\r\naddNode!(fg, Symbol(\"x1\"), ContinuousScalar, N=n_samples)\r\n\r\n# # Gaussian transition model\r\naddFactor!(fg, [:x0; :x1], LinearConditional(Normal(1, odom_noise)))\r\n\r\n# # Make second \"door\" measurement\r\naddFactor!(fg, [:x1; :l0; :l1; :l2], LinearConditional(Normal(0, meas_noise)), multihypo=[1.0; 1.0/3.0; 1.0/3.0; 1.0/3.0])\r\n\r\n# # Add third pose\r\naddNode!(fg, Symbol(\"x2\"), ContinuousScalar, N=n_samples)\r\n\r\n# # Gaussian transition model\r\naddFactor!(fg, [:x1; :x2], LinearConditional(Normal(1, odom_noise)))\r\n\r\n# Add fourth pose\r\naddNode!(fg, :x3, ContinuousScalar, N=n_samples)\r\n\r\n# Add odometry transition and new landmark sighting\r\naddFactor!(fg, [:x2, :x3], LinearConditional(Normal(2, odom_noise)))\r\naddFactor!(fg, [:x3; :l0; :l1; :l2], LinearConditional(Normal(0, meas_noise)), multihypo=[1.0; 1.0/3.0; 1.0/3.0; 1.0/3.0])\r\n\r\nensureAllInitialized!(fg)\r\ntree = wipeBuildNewTree!(fg)\r\ninferOverTree!(fg, tree, N=n_samples)\r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/comments/475923590","html_url":"https://github.com/JuliaRobotics/IncrementalInference.jl/issues/236#issuecomment-475923590","issue_url":"https://api.github.com/repos/JuliaRobotics/IncrementalInference.jl/issues/236","id":475923590,"node_id":"MDEyOklzc3VlQ29tbWVudDQ3NTkyMzU5MA==","user":{"login":"dehann","id":6412556,"node_id":"MDQ6VXNlcjY0MTI1NTY=","avatar_url":"https://avatars0.githubusercontent.com/u/6412556?v=4","gravatar_id":"","url":"https://api.github.com/users/dehann","html_url":"https://github.com/dehann","followers_url":"https://api.github.com/users/dehann/followers","following_url":"https://api.github.com/users/dehann/following{/other_user}","gists_url":"https://api.github.com/users/dehann/gists{/gist_id}","starred_url":"https://api.github.com/users/dehann/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dehann/subscriptions","organizations_url":"https://api.github.com/users/dehann/orgs","repos_url":"https://api.github.com/users/dehann/repos","events_url":"https://api.github.com/users/dehann/events{/privacy}","received_events_url":"https://api.github.com/users/dehann/received_events","type":"User","site_admin":false},"created_at":"2019-03-24T02:57:01Z","updated_at":"2019-03-24T02:57:01Z","author_association":"COLLABORATOR","body":"correction, I think the 2 door example is in fact working properly.  Not sure what was going on when we were looking at it...\r\n![test](https://user-images.githubusercontent.com/6412556/54874288-5794b800-4dbe-11e9-8671-88b089ec4361.png)\r\n"}}
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