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InvDepthFactorVariant1.h File Reference

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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Classes

class  gtsam::InvDepthFactorVariant1
 

Namespaces

 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).

Author
Chris Beall, Stephen Williams

Definition in file InvDepthFactorVariant1.h.



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autogenerated on Tue Jul 4 2023 02:40:49