Classes | Namespaces
InvDepthFactor3.h File Reference

Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are initialized from the first camera observation with (x,y,z,theta,phi,inv_depth), where x,y,z are the coordinates of the camera. InvDepthCamera provides methods to initialize inverse depth landmarks (backproject), and to convert inverse depth landmarks to cartesian coordinates (Point3) for visualization, etc. The inverse depth parameterization is split into (x,y,z,theta,phi), (inv_depth) to make it easy to add a prior on inverse depth alone. More...

#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam_unstable/geometry/InvDepthCamera3.h>
Include dependency graph for InvDepthFactor3.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

class  gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >
 

Namespaces

 gtsam
 traits
 

Detailed Description

Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are initialized from the first camera observation with (x,y,z,theta,phi,inv_depth), where x,y,z are the coordinates of the camera. InvDepthCamera provides methods to initialize inverse depth landmarks (backproject), and to convert inverse depth landmarks to cartesian coordinates (Point3) for visualization, etc. The inverse depth parameterization is split into (x,y,z,theta,phi), (inv_depth) to make it easy to add a prior on inverse depth alone.

Author
Chris Beall

Definition in file InvDepthFactor3.h.



gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:40:49