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InvDepthFactorVariant3.h File Reference

Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (theta,phi,rho). The factor involves two poses and a landmark. The first pose is the reference frame from which (theta, phi, rho) is measured. 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::InvDepthFactorVariant3a
 
class  gtsam::InvDepthFactorVariant3b
 

Namespaces

 gtsam
 traits
 

Detailed Description

Inverse Depth Factor based on Civera09tro, Montiel06rss. Landmarks are parameterized as (theta,phi,rho). The factor involves two poses and a landmark. The first pose is the reference frame from which (theta, phi, rho) is measured.

Author
Chris Beall, Stephen Williams

Definition in file InvDepthFactorVariant3.h.



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autogenerated on Tue Jul 4 2023 02:40:49