Factor between two landmarks
pie-leroy opened this issue · 2 comments
Hello, I am looking to develop a SLAM using the gtsam Python API. In my project, I am doing image segmentation which allows me to extract a landmark for each object of interest. I can make assumptions about the distances between two landmarks, i.e., a minimum distance. My landmarks are 3D Points.
I feel like I could use "ReferenceFrameFactor" but I haven't succeeded in Python.
Is it possible to insert a factor between two landmarks? If yes, how?
Thank you in advance.
Hi, is BetweenFactor good for this? Is there anything special?
Thank you very much, indeed it works, here is the code used
noise_model = gtsam.noiseModel.Isotropic.Sigma(3, 0.0001) distance_factor = gtsam.BetweenFactorPoint3(symbol('l', 0), symbol('l', 24), np.array([0.0, 0.0, 553]), noise_model) graph.add(distance_factor) result = optimize(graph, initial_estimate)