GTSAM detect wrong data type with Point3 in *windows*

[etamarlu]

Description

I built GTSAM-develop with Matlab toolbox in windows (it required applying some patches from feedstock, but the same errors appears when I use their GTSAM 4.2 which they officially support)

when trying to insert a Vector to Values an error will appear when calling the solver (I tried ISAM2).

Exception from gtsam:
Attempting to retrieve value with key "v3", type stored in Values is class gtsam::GenericValue<class
Eigen::Matrix<double,-1,1,0,-1,1> > but requested type was class Eigen::Matrix<double,3,1,0,3,1>

I tracked it down to NonlinearFactor.h.h at lines 707 or 710, when calling

x.at<ValueTypes>(keys_[Indices])

For some reason there is a discrepancy between ValueType and the value type saved.

I found a workaround (suggested in other issues -using inserPoint3 and atPoint3) for both Point3 and Velocities values. But a robust solution would help, at least to know there is no hidden bug in out faulty compilation.

I found similar problems in the past, ie, 1, 2
I saw that a possible reason was the order of overloaded functions, but I couldn't find why it happens here.

Also, I know you don't fix windows issues anymore,
I would appreciate a general direction how to debug it myself.
This bug doesn't appear in Linux

Steps to reproduce

1. download gtsam-develop
2. from gtsam feedstock apply those patches: (1)fix-gtsam-export-4.2.0.patch (2)python-win (3) fix-gtsam-unstable-export-4.2.0 (4)fix-python-build-win (required to build 'release' version)
3. • maybe not required, but - manually add to root CMakeList.txt file the equivalent of:

set(BOOST_ROOT "C:/Boost/boost_1_75_0")
link_directories("C:/Boost/boost_1_75_0/stage/lib")

5. compile with msvp19 with ninja and CMake commands:
   -DGTSAM_INSTALL_MATLAB_TOOLBOX=ON -DGTSAM_BUILD_PYTHON=ON -DGTSAM_PYTHON_VERSION=3.11.1 -DGTSAM_WITH_TBB=OFF
6. add install directory to the path
7. run IMUKITTY example

to get it running properly - when inserting velocity values - replace "insert" with "insertPoint3", when reading velocity values replace "result.atVector" with "atVector.atPoint3"

Expected behavior

Environment

1. windows 10
2. matlab 23a
3. python 3.11.1

Additional information

[ProfFan]

This could be related to #1685, could you take a look? Thank you very much!

[talregev]

Exception from gtsam:
Attempting to retrieve value with key "v3", type stored in Values is class gtsam::GenericValue<class
Eigen::Matrix<double,-1,1,0,-1,1> > but requested type was class Eigen::Matrix<double,3,1,0,3,1>

I have the exact problem when I compile the tests on windows, and fix it on my PR.
@etamarlu Can you try my PR if it work for you?