Use LieGroups.MetricLieGroup and other pose related updates

[Affie]

No description provided.

[Affie]

This had the known bug (fixed in Pose3Pose3) with the covariance not in the same tangent as the measurement. The rotation offset was also treated as a product manifold, but it is more useful to use SE(3)

[Copilot]

Pull request overview

This PR updates RoME/RoMETypes pose-related manifolds and factors to use LieGroups.MetricLieGroup (via a new LeftInvariantMetricSE(n) wrapper) and updates downstream code/tests accordingly, alongside some API migrations for newer DistributedFactorGraphs/IncrementalInference versions.

Changes:

• Replace the custom SOnxRn_MetricManifold with LeftInvariantMetricSE built on LieGroups.MetricLieGroup, and update pose factors/tests to use it.
• Update multiple call sites to newer DFG APIs (e.g., refMeans(getState(...)), blob provider rename).
• Add/adjust tests, but also skip a set of tests at the harness level.

Reviewed changes

Copilot reviewed 31 out of 32 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
RoMETypes/src/variables/VariableTypes.jl	Updates Pose2/Pose3 documentation and removes projectCartesian helper.
RoMETypes/src/RoMETypes.jl	Switches exports/includes from SOnxRn_MetricManifold to LeftInvariantMetricSE.
RoMETypes/src/manifolds/SOnxRn_MetricManifold.jl	Deletes the previous custom metric manifold implementation.
RoMETypes/src/manifolds/LeftInvariantMetricSE.jl	Adds new LeftInvariantMetricSE(n) manifold wrapper using LieGroups.MetricLieGroup.
RoMETypes/src/factors/FactorTypes.jl	Updates Pose2/Pose3 factor manifold types and revises factor docstrings.
RoMETypes/Project.toml	Bumps compat bounds for DFG/LieGroups/RecursiveArrayTools.
RoME/test/testScalarFields.jl	Migrates blob store usage to FolderBlobprovider / addBlobprovider!.
RoME/test/testPose3Pose3NH.jl	Updates mean/mmd manifold argument to LeftInvariantMetricSE(3).
RoME/test/testPose3.jl	Updates parametric state access to DFG.refMeans(getState(...)); adds new residual test for rot-offset factor.
RoME/test/testPose2Propagate.jl	Adds new covariance propagation tests (SE(2) vs LeftInvariantMetricSE(2)).
RoME/test/testPartialPose3.jl	Updates manifold from SOnxRn_MetricManifold(3) to LeftInvariantMetricSE(3).
RoME/test/testPartialPose2.jl	Updates parametric solve/getting means; marks a PPE-dependent check as broken.
RoME/test/testParametricCovariances.jl	Updates parametric mean checks to use refMeans(getState(...)) + manifold log.
RoME/test/testParametric.jl	Updates expected manifold from SOnxRn_MetricManifold(2) to LeftInvariantMetricSE(2).
RoME/test/testInflation380.jl	Updates parametric reference extraction; adjusts angle comparison logic.
RoME/test/testGenericProjection.jl	Adds DFG/RoMETypes imports and manually initializes parametric states (WIP).
RoME/test/testG2oExportSE3.jl	Switches g2o export test to use solveKey = :default (parametric path commented).
RoME/test/testDidsonFunctions.jl	Updates KDE manifold to LeftInvariantMetricSE(3).
RoME/test/testBearingRange2D.jl	Updates mean(...) manifold to LeftInvariantMetricSE(2).
RoME/test/testBearing2D.jl	Updates test manifold to LeftInvariantMetricSE(2).
RoME/test/runtests.jl	Skips a list of tests by marking them broken and not including them.
RoME/test/inertial/testIMUDeltaFactor.jl	Updates parametric state access from .val[1] to DFG.refMeans(...)[1].
RoME/src/services/FixmeManifolds.jl	Updates internal mean computation to use LeftInvariantMetricSE(2).
RoME/src/services/AdditionalUtils.jl	Updates helper to use LeftInvariantMetricSE(len) instead of old manifold.
RoME/src/factors/Poses.jl	Updates pose factor residuals; rewrites Pose3Pose3RotOffset using diff_left_compose; updates AMP manifold tuple hooks.
RoME/src/factors/Pose2Point2.jl	Updates manifold used in factor to LeftInvariantMetricSE(2).
RoME/src/factors/Pose2D.jl	Updates Pose2Pose2 manifold getter to LeftInvariantMetricSE(2).
RoME/src/factors/PartialPose3.jl	Updates PartialPose3 factor manifold to LeftInvariantMetricSE(2).
RoME/src/canonical/GenerateCircular.jl	Adds sampleNoise option to optionally sample measurement means.
RoME/Project.toml	Bumps compat bounds for DFG/IIF/RecursiveArrayTools.
RoME/ext/RoMECameraModelsExt.jl	Updates parametric state access to DFG.refMeans(getState(...)).

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[codecov]

Codecov Report

❌ Patch coverage is 75.43860% with 14 lines in your changes missing coverage. Please review.
⚠️ Please upload report for BASE (develop@2adb03c). Learn more about missing BASE report.

Files with missing lines	Patch %	Lines
RoMETypes/src/manifolds/LeftInvariantMetricSE.jl	80.64%	6 Missing ⚠️
RoME/src/factors/Poses.jl	72.22%	5 Missing ⚠️
RoME/src/factors/Pose2D.jl	0.00%	1 Missing ⚠️
RoME/src/services/AdditionalUtils.jl	0.00%	1 Missing ⚠️
RoME/src/services/FixmeManifolds.jl	0.00%	1 Missing ⚠️

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