Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (x,y,z,theta,phi,rho). The factor involves a single pose and a landmark. The landmark parameterization contains the reference point internally (and will thus be updated as well during optimization). More...
#include <gtsam/nonlinear/NonlinearFactor.h>#include <gtsam/geometry/PinholeCamera.h>#include <gtsam/geometry/Cal3_S2.h>#include <gtsam/geometry/Pose3.h>#include <gtsam/geometry/Point2.h>#include <gtsam/base/numericalDerivative.h>
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| class | gtsam::InvDepthFactorVariant1 |
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| gtsam | |
| traits | |
Detailed Description
Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (x,y,z,theta,phi,rho). The factor involves a single pose and a landmark. The landmark parameterization contains the reference point internally (and will thus be updated as well during optimization).
Definition in file InvDepthFactorVariant1.h.