File covisibility_factors.hpp

↰ Parent directory (/home/runner/work/slam-mer/slam-mer/adjustment/include)

Custom GTSAM factor definitions for covisibility optimization.

Definition (/home/runner/work/slam-mer/slam-mer/adjustment/include/covisibility_factors.hpp)

Detailed Description

Copyright (C) 2026 Mitsubishi Electric Research Laboratories (MERL) SPDX-License-Identifier: AGPL-3.0-or-later

Declares factor classes and helpers used by adjustment routines to model projection, distance, and odometry constraints in the covisibility graph backend built on top of GTSAM. Pedro Miraldo

Valter Piedade

Includes

• gtsam/base/OptionalJacobian.h

• gtsam/base/numericalDerivative.h

• gtsam/geometry/Cal3_S2.h

• gtsam/geometry/PinholeCamera.h

• gtsam/geometry/Point3.h

• gtsam/geometry/Pose3.h

• gtsam/inference/Symbol.h

• gtsam/linear/NoiseModel.h

• gtsam/nonlinear/NonlinearFactor.h

• gtsam/slam/BetweenFactor.h

• types/id.hpp (File id.hpp)

• types/output.hpp (File output.hpp)

Included By

• File covisibility_graph.hpp

• File observation_edge.hpp

Namespaces

• Namespace slam_mer

• Namespace slam_mer::covisibility_graph

Classes

• Template Class OdometryFactor

• Template Class PointDistanceFactor

• Template Class ProjectionFactor

Functions

• Template Function slam_mer::covisibility_graph::__fail_retrieve(const output_t<std::shared_ptr<ProjectionFactor<TransformationType>>>&)

• Template Function slam_mer::covisibility_graph::__fail_retrieve(const output_t<std::shared_ptr<PointDistanceFactor<TransformationType>>>&)

• Template Function slam_mer::covisibility_graph::__sanity_retrieve(const output_t<std::shared_ptr<PointDistanceFactor<TransformationType>>>&)

• Template Function slam_mer::covisibility_graph::__sanity_retrieve(const output_t<std::shared_ptr<ProjectionFactor<TransformationType>>>&)