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Marginalization of factors #283

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hanskumarKEF opened this issue Dec 22, 2022 · 2 comments
Open

Marginalization of factors #283

hanskumarKEF opened this issue Dec 22, 2022 · 2 comments
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enhancement New feature or request optimization

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@hanskumarKEF
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Would be great to have ability to easily marginalize factors so that we could easily implement fixed lag smoother.
@sudo-robot-destroy
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I agree that would be great, I've wondered about how to implement a fixed lag smoother but haven't been able to wrap my head around it. Built-in marginalization would be nice.

@aaron-skydio aaron-skydio added optimization enhancement New feature or request labels Dec 27, 2022
@ZepherusFF
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Just stumbled through this thread while reading up about Symforce... I'm confused how this is then used for real-time/online applications (for example, a Skydio drone) if this doesn't exist. I would compare this to having a NonLinearFactorGraph object vs ISAM2 that marginalizes (if we're comparing to GTSAM).
Surely it's not tractable to have your factor graph grow indefinitely ? Am I missing something ?

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@ZepherusFF @sudo-robot-destroy @aaron-skydio @hanskumarKEF