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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>
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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.



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autogenerated on Fri Nov 1 2024 03:43:17