\page factoradders Factor Adders

Package Overview

The factor adders package provides a set of factor adders that add factors to a graph optimizer given a range of timestamps.

FactorAdder

Base class for adding factors given a timestamp range.

MeasurementBasedFactorAdder

Extends the FactorAdder and stores measurements in a buffer before using these for factor creation.

SingleMeasurementBasedFactorAdder

MeasurementBasedFactorAdder that adds factors using single measurements at a time for measurements in a provided time range.

LocFactorAdder

SingleMeasurementBasedFactorAdder that takes map-based image feature measurements and generates either LocProjectionFactors or LocPoseFactors. Optionally adds loc pose factors as a fallback for projection factors that suffer cheirality errors. Uses a pose node adder for required node creation.

VOSmartProjectionFactorAdder

Generates visual odometry smart factors using image feature tracks. Downsamples measurements as desired for smart factors. See gtsam::SmartProjectionPoseFactor for more information on smart factors. Uses a pose node adder for required node creation.

StandstillFactorAdder

Creates a zero velocity prior and a zero tranform between factor for successive nodes when standstill is detected. Uses a pose and velocity node adder for required node creation.