FunctorizedFactor2 #671
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FunctorizedFactor2 #671
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varunagrawal
added
enhancement
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This PR adds a binary version of the
FunctorizedFactor.Since a lot of operations we perform involve at least 2 keys (e.g. projection of unknown landmarks with unknown cameras), this factor provides a very easy way to add custom functionals involving 2 keys, such as custom sensors for specific projects.
Please refer to the tests for an example of a simple Matrix-Vector product.