Did anybody work with switchable constraints?

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Ilinca Burdulea

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Jul 1, 2024, 10:05:54 AMJul 1

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Hello,

I want to use switchable constraints for loop closures and the closest example to GTSAM I could find was a 12yo extension library that used GTSAM 2.0 (https://github.com/haidai/vertigo). Does anyone have more experience with this?

Thank you,

Ilinca

Aleksandr Mikoff

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Jul 11, 2024, 10:43:25 AMJul 11

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Hey!

I have recently experimented with switchable constraints.

This repo is a good starting point (was updates for GTSAM4): https://github.com/DanMcGann/openslam_vertigo

Also if you want to implement some factors from scratch the good tool is: https://github.com/symforce-org/symforce

понедельник, 1 июля 2024 г. в 16:05:54 UTC+2, ili...@truemetrics.io:

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