Fix in ConcurrentFilteringAndSmoothing - one elimination call was using the default elimination function instead of the one from the parameters.
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@ -71,7 +71,8 @@ NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph,
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// Create the linear factor graph
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GaussianFactorGraph linearFactorGraph = *graph.linearize(theta);
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// .first is the eliminated Bayes tree, while .second is the remaining factor graph
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GaussianFactorGraph marginalLinearFactors = *linearFactorGraph.eliminatePartialMultifrontal(std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end())).second;
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GaussianFactorGraph marginalLinearFactors = *linearFactorGraph.eliminatePartialMultifrontal(
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std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end()), eliminateFunction).second;
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// Wrap in nonlinear container factors
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NonlinearFactorGraph marginalFactors;
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