symforce.examples.custom_factor_generation.factor_residuals module¶
- custom_between_factor_residual(nav_T_src, nav_T_target, target_T_src_prior, prior_weight, prior_sigmas, epsilon)[source]¶
Return the 6dof residual on the relative pose between the given two views. Compares the relative pose between the optimized poses to the relative pose between the priors.
This is similar to geo_factors_codegen.between_factor, but it uses a weight and diagonal covariance instead of a sqrt information matrix
- Parameters:
nav_T_src (
Pose3
) – Current pose of the src framenav_T_target (
Pose3
) – Current pose of the target frametarget_T_src_prior (
Pose3
) – Prior on the pose of src in the target frameprior_weight (
float
) – The weight of the Gaussian priorprior_sigmas (
Matrix61
) – The diagonal of the sqrt covariance matrixepsilon (
float
) – Small positive value
- Outputs:
res: The residual of the between factor
- Return type: