Problem Builder

Calibrex compiles configs into a backend-neutral graph problem before any solver-specific adapter runs.

The compiled problem contains:

• variables: trajectory, extrinsics, intrinsics, time offsets, IMU bias, maps, control grids, and velocity blocks
• factors: backend-neutral residual descriptors
• priors: transform, timing, and root pose priors
• gauges: explicit constraints that remove free global modes
• observability: static pre-solver diagnostics

Inspect a compiled problem:

Calibrex compile examples/configs/minimal.yaml --json

Solver adapters translate this representation into backend-native structures for scipy, GTSAM, Ceres, Open3D, or future backends.