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borglab / gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
http://gtsam.org
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ConcurrentIncrementalFilter should include new isam update params that supports marking affected key for smart factors #1526

Open ShuangLiu1992 opened 1 year ago

ShuangLiu1992 commented 1 year ago

ConcurrentIncrementalFilter should include new isam update params that supports marking affected key for smart factors. filter.update() should also support ISAM2UpdateParams.h, otherwise it won't work correctly with smart factors.

https://github.com/borglab/gtsam/pull/25/files#diff-6b8ddb8e27ec5dcdd8e1d70a0d9353171d7bc20694da31b130f7a0ae6ffc2089

dellaert commented 1 year ago

@ShuangLiu1992 are you planning to submit a PR for this?