Structure-less Vision Factor in paper [IMU preintegration on manifold for efficient visual-inertial ...]

[liliang.hao]

Does anyone know how to use the structure-less vision factor in paper [IMU preintegration on manifold for efficient visual-inertial ...]? I see the IMUFactor in GTSAM 4.0, but I didn't see the structure-less vision one? Could anybody tell me how to find and use it? @dellaert @lucacarlone

[Timo Hinzmann]

They are called Smart Factors in GTSAM afaik. E.g. have a look here for an overview.

[Frank Dellaert]

Indeed...

[Frank Dellaert]

Question answered...