SLAM

Non-linear factor for a constraint derived from a 2D measurement. More...

Non-linear factor for a constraint derived from a 2D measurement.

A Generic Stereo Factor.

The calibration is known here.

If you are using the factor, please cite: L.

Structure for storing some state memory, used to speed up optimization.

Binary factor for a range measurement.

A class for a soft prior on any Value type.

Binary factor between two Pose3 variables induced by an EssentialMatrix measurement.

Unary inequality constraint forcing a scalar to be greater/less than a fixed threshold.

A class for a measurement predicted by "between(config[key1],config[key2])".

Binary factor for a bearing measurement.

A class for downdating an existing factor from a graph.

The calibration and pose are assumed known.

The AntiFactor returns the same linearized Hessian matrices of the original factor, but with the opposite sign. This effectively cancels out any affects of the original factor during optimization."

Template Parameters

VALUE

the Value type

The function will need to have its value function implemented to return a scalar for comparison.

The calibration is unknown here compared to GenericProjectionFactor

The calibration is known here. i.e. the main building block for visual SLAM.

Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.

The factor only constraints poses (variable dimension is 6)