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Merge PSD marginalization prior propagation fix - #47
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(cherry picked from commit 219addc)
Fix PSD marginalization prior propagation
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🟢 Approval recommended
The reconstruction is mathematically consistent with the residual and Jacobian exposed to Ceres.
Review effort: Balanced
Findings: None
What changed in this PR
Ensures repeated marginalization propagates the same PSD-projected prior used by Ceres.
Changes:
- Reconstructs the Hessian and RHS from the projected Jacobian and residual.
| File | Description |
|---|---|
okvis_ros/okvis/okvis_ceres/src/MarginalizationError.cpp |
Preserves the projected prior for subsequent Schur updates. |
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