Enum FactorKind 

pub enum FactorKind {
    ReprojPointPinhole4 {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
    },
    ReprojPointPinhole4Dist5 {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
    },
    ReprojPointPinhole4Dist5Scheimpflug2 {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
    },
    ReprojPointPinhole4Dist5TwoSE3 {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
    },
    ReprojPointPinhole4Dist5HandEye {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
        base_to_gripper_se3: [f64; 7],
        mode: HandEyeMode,
    },
    ReprojPointPinhole4Dist5HandEyeRobotDelta {
        pw: [f64; 3],
        uv: [f64; 2],
        w: f64,
        base_to_gripper_se3: [f64; 7],
        mode: HandEyeMode,
    },
    LaserPlanePixel {
        laser_pixel: [f64; 2],
        w: f64,
    },
    LaserLineDist2D {
        laser_pixel: [f64; 2],
        w: f64,
    },
    Prior,
    Se3TangentPrior {
        sqrt_info: [f64; 6],
    },
    ReprojPointWithDistortion,
}

Backend-agnostic factor kinds.

Each factor kind implies its parameter layout and residual dimension.

Variants

ReprojPointPinhole4

Reprojection residual for a pinhole camera with 4 intrinsics and an SE3 pose.

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

ReprojPointPinhole4Dist5

Reprojection residual with pinhole intrinsics, Brown-Conrady distortion, and SE3 pose.

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

ReprojPointPinhole4Dist5Scheimpflug2

Reprojection with pinhole, distortion, Scheimpflug sensor, and SE3 pose.

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

ReprojPointPinhole4Dist5TwoSE3

Reprojection with two composed SE3 transforms for rig extrinsics.

Parameters: [intrinsics, distortion, extr_camera_to_rig, pose_target_to_rig] Transform chain: P_camera = extr^-1 * pose * P_world

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

ReprojPointPinhole4Dist5HandEye

Reprojection for hand-eye calibration with robot pose as measurement.

Parameters: [intrinsics, distortion, extr, handeye, target] Robot pose (base_se3_gripper, gripper in base frame) is stored in the factor as known data.

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

base_to_gripper_se3: [f64; 7]

Measured robot pose T_B_G packed as [qx,qy,qz,qw,tx,ty,tz].

mode: HandEyeMode

Hand-eye mode defining transform chain.

ReprojPointPinhole4Dist5HandEyeRobotDelta

Reprojection for hand-eye calibration with per-view robot pose correction.

Parameters: [intrinsics, distortion, extr, handeye, target, robot_delta] Robot pose (base_se3_gripper) is stored in the factor as known data. robot_delta is a 6D se(3) tangent correction applied via exp(delta) * T_B_E.

Fields

pw: [f64; 3]

World/target point coordinates.

uv: [f64; 2]

Observed pixel coordinates.

w: f64

Residual weight.

base_to_gripper_se3: [f64; 7]

Measured robot pose T_B_G packed as [qx,qy,qz,qw,tx,ty,tz].

mode: HandEyeMode

Hand-eye mode defining transform chain.

LaserPlanePixel

Laser line pixel constrained to lie on laser plane.

Parameters: [intrinsics, distortion, sensor, pose_cam_to_target, plane_normal, plane_distance] Residual: point-to-plane distance for ray-target intersection point. Note: Target is always planar (Z=0), so 3D point is computed as ray intersection.

Fields

laser_pixel: [f64; 2]

Observed laser pixel coordinates.

w: f64

Residual weight.

LaserLineDist2D

Laser line pixel constrained by line-distance in normalized plane.

Parameters: [intrinsics, distortion, sensor, pose_cam_to_target, plane_normal, plane_distance] Residual: perpendicular distance from normalized pixel to projected laser-target intersection line, scaled by sqrt(fx*fy). Note: Alternative to LaserPlanePixel using normalized plane geometry.

Fields

laser_pixel: [f64; 2]

Observed laser pixel coordinates.

w: f64

Residual weight.

Prior

Placeholder for future prior factors.

Se3TangentPrior

Zero-mean prior on a 6D se(3) tangent vector.

Parameters: [se3_delta] (6D Euclidean).

Fields

sqrt_info: [f64; 6]

Diagonal square-root information for [rx, ry, rz, tx, ty, tz].

ReprojPointWithDistortion

Placeholder for future distortion-aware reprojection.

Implementations

impl FactorKind

pub fn residual_dim(&self) -> usize

Residual dimension implied by the factor.

Trait Implementations

impl Clone for FactorKind

fn clone(&self) -> FactorKind

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for FactorKind

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for FactorKind

fn eq(&self, other: &FactorKind) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for FactorKind