Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (theta,phi,rho) with the reference point created at landmark construction and then never updated (i.e. the point [x,y,z] is treated as fixed and not part of the optimization). The factor involves a single pose and a landmark. 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::InvDepthFactorVariant2 |
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| gtsam | |
| traits | |
Detailed Description
Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (theta,phi,rho) with the reference point created at landmark construction and then never updated (i.e. the point [x,y,z] is treated as fixed and not part of the optimization). The factor involves a single pose and a landmark.
Definition in file InvDepthFactorVariant2.h.