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FactorGraph, ExternalConstraint -> FactorGraph
Provide event callback slots during execution cycles to dynamically inject external factors or sensor priors into a factor graph.
Problem it solves
Static estimation architectures prevent integrating downstream loop closures, IMU, or camera observations without rebuilding the core mapping pipeline.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.