fixes and notes

dehann · dehann · commit aeb70179b561 · 2023-01-02T12:17:18.000-08:00
diff --git a/Project.toml b/Project.toml
@@ -77,7 +77,7 @@ Optim = "1"
 ProgressMeter = "1"
 Reexport = "1"
 Requires = "1"
-RoME = "0.21.2"
+RoME = "0.21"
 Rotations = "1.1"
 StaticArrays = "1"
 StatsBase = "0.33"
diff --git a/examples/dev/database/RandomCloudGraphsInteraction.jl b/examples/dev/database/RandomCloudGraphsInteraction.jl
@@ -35,7 +35,7 @@ usrf(res, 1, pts, getVal(fg, :x4), getVal(fg, :l15))
 @show res
 
 @show fieldnames(getData(fg.g.vertices[100003]).fnc)
-@show getData(fg.g.vertices[100003]).fnc.particleidx
+@show getData(fg.g.vertices[100003]).fnc.particleidx[]
 
 v = getVert(fg, :l15, api=dlapi)
 getVal(fg, :l15, api=dlapi)
diff --git a/src/objects/ObjectAffordanceSubcloud.jl b/src/objects/ObjectAffordanceSubcloud.jl
@@ -12,6 +12,8 @@ Base.@kwdef struct _ObjAffSubcCache
   o_Ts_p::Vector{<:ArrayPartition}
   """ any object priors connected to the landmark variable """
   objPrior::Vector{Symbol} = Symbol[]
+  # TODO add logic or necessary registers for the common object reference frame
+  # TODO add registers for ObjectAffordancePrior
 end
 # """ extracted subclouds from connected LIE factors """
 # p_SClie::Vector{<:_PCL.PointCloud}
