Fix mathematically incorrect determinant sign handling in SL4::Expmap #2319
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- Remove incorrect sign-flipping logic that didn't actually fix negative determinants - Replace with mathematically sound approach: throw error on non-positive determinants - Remove absurdly large tolerance (1e3) that would accept det ranging from e^-1000 to e^1000 - Add proper test assertions to verify det(T) = 1 for normal cases - Add separate tests for large tangent vectors with proper exception handling Co-authored-by: dellaert <[email protected]>
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Mac CI with boost does not pass. Please add a “brew update” step before upgrading or installing boost. One line change please. |
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Mac CI with boost does not pass. Please add a “brew update” step before upgrading or installing boost. One line change please.
Add explicit brew update step before installing boost to prevent CI failures on macOS. Co-authored-by: dellaert <[email protected]>
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