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InvDepthFactorVariant2.h File Reference

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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Classes

class  gtsam::InvDepthFactorVariant2
 

Namespaces

 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.

Author
Chris Beall, Stephen Williams

Definition in file InvDepthFactorVariant2.h.



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autogenerated on Tue Jul 4 2023 02:40:49