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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-06-13
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph factors package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphfactors Graph Factors

Package Overview

The graph factors package provides a set of graph factors for use with a GTSAM graph optimizer. See the GraphOptimizer package for more information on their usage.

Factors

LocPoseFactor

The LocPoseFactor is simply a gtsam::PriorFactor<gtsam::Pose3> that enables the differention of a pose prior from a localization map-based image feature factor.

LocProjectionFactor

The LocProjectionFactor is almost a direct copy of the gtsam::ProjectionFactor except it does not optimize for the 3D feature point location.

PoseRotationFactor

The PoseRotationFactor constrains two gtsam::Pose3 nodes using their relative rotation.

PointToHandrailEndpointFactor.h

The PointToHandrailEndpointFactor constrains a gtsam::Pose3 using a handrail endpoint detection in the sensor frame compared with the closest handrail endpoint from a know handrail.

PointToLineFactor.h

The PointToLineFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a line in the world frame.

PointToLineSegmentFactor.h

The PointToLineSegmentFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a line segment in the world frame. This factor contains a discontinuity in the Jacobian as there is zero error along the line segment axis if the point is between line segment endpoints and non-zero error otherwise. An option to use a SILU (Sigmoid Linear Unit) approximation is provided for this case.

PointToPlaneFactor.h

The PointToPlaneFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a plane in the world frame.

RobustSmartProjectionFactor

The RobustSmartProjectionFactor adds to the gtsam::SmartProjectionFactor by providing a robust huber kernel. Additionally, it fixes some issues in the SmartProjectionFactor allowing for a rotation-only fallback when using the JacobianSVD option and allows for proper serialization of the factor.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_factors at Robotics Stack Exchange

No version for distro ardent. Known supported distros are highlighted in the buttons above.
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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-06-13
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The graph factors package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page graphfactors Graph Factors

Package Overview

The graph factors package provides a set of graph factors for use with a GTSAM graph optimizer. See the GraphOptimizer package for more information on their usage.

Factors

LocPoseFactor

The LocPoseFactor is simply a gtsam::PriorFactor<gtsam::Pose3> that enables the differention of a pose prior from a localization map-based image feature factor.

LocProjectionFactor

The LocProjectionFactor is almost a direct copy of the gtsam::ProjectionFactor except it does not optimize for the 3D feature point location.

PoseRotationFactor

The PoseRotationFactor constrains two gtsam::Pose3 nodes using their relative rotation.

PointToHandrailEndpointFactor.h

The PointToHandrailEndpointFactor constrains a gtsam::Pose3 using a handrail endpoint detection in the sensor frame compared with the closest handrail endpoint from a know handrail.

PointToLineFactor.h

The PointToLineFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a line in the world frame.

PointToLineSegmentFactor.h

The PointToLineSegmentFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a line segment in the world frame. This factor contains a discontinuity in the Jacobian as there is zero error along the line segment axis if the point is between line segment endpoints and non-zero error otherwise. An option to use a SILU (Sigmoid Linear Unit) approximation is provided for this case.

PointToPlaneFactor.h

The PointToPlaneFactor constrains a gtsam::Pose3 using a point detection in the sensor frame compared with a plane in the world frame.

RobustSmartProjectionFactor

The RobustSmartProjectionFactor adds to the gtsam::SmartProjectionFactor by providing a robust huber kernel. Additionally, it fixes some issues in the SmartProjectionFactor allowing for a rotation-only fallback when using the JacobianSVD option and allows for proper serialization of the factor.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged graph_factors at Robotics Stack Exchange