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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 | 2024-07-03 |
| 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
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.
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged graph_factors at Robotics Stack Exchange
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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 | 2024-07-03 |
| 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
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.