fix calcVariableDistanceExpectedFractional

Author: Affie

src/NumericalCalculations.jl

@@ -114,7 +114,9 @@ function _solveLambdaNumeric( fcttype::Union{F,<:Mixture{N_,F,S,T}},
   X0 = hat(M, ϵ, X0c)
   p0 = exp(M, ϵ, X0)
   r = Optim.optimize(Xc->cost(p0, X0, Xc), X0c, alg)
-  
+  if !Optim.converged(r)
+    @debug "Optim did not converge:" r
+  end
   return exp(M, ϵ, hat(M, ϵ, r.minimizer)) 
 
 end

src/services/EvalFactor.jl

@@ -103,12 +103,8 @@ function calcVariableDistanceExpectedFractional(ccwl::CommonConvWrapper,
   # also check distance to certainidx for general scale reference (workaround heuristic)
   for cidx in certainidx
     count += 1
-    cerMean = zeros(length(ccwl.params[cidx][1]))
-    # cerMean = Statistics.mean(ccwl.params[cidx], dims=2)[:]
-    for pr in ccwl.params[cidx]
-      cerMean .+= pr
-    end
-    cerMean ./= length(ccwl.params[cidx])
+    cerMeanPnt = mean(getManifold(ccwl.vartypes[cidx]), ccwl.params[cidx])
+    cerMean = getCoordinates(ccwl.vartypes[cidx], cerMeanPnt)
     dists[count] = norm(refMean[1:dims] - cerMean[1:dims])
   end