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40 using namespace gtsam;
43 static double fov = 60;
44 static int w=640,
h=480;
68 n_measPixel << 10, 10, 10, 10, 10, 10;
69 const SharedDiagonal noiseProjection = noiseModel::Isotropic::Sigma(2, 1);
77 n_measPixel, noiseProjection, views,
l1,
K);
static int runAllTests(TestResult &result)
ADT create(const Signature &signature)
Reprojection of a LANDMARK to a 2D point.
Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph.
The most common 5DOF 3D->2D calibration.
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
Variable ordering for the elimination algorithm.
Pose3 x3(Rot3::Ypr(M_PI/4.0, 0.0, 0.0), l2)
noiseModel::Diagonal::shared_ptr SharedDiagonal
static Cal3_S2::shared_ptr K(new Cal3_S2(fov, w, h))
noiseModel::Base::shared_ptr SharedNoiseModel
std::shared_ptr< Cal3_S2 > shared_ptr
Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
static SharedNoiseModel model(noiseModel::Unit::Create(2))
Factor Graph consisting of non-linear factors.
Calibration of a camera with radial distortion, calculations in base class Cal3DS2_Base.
TEST(MultiProjectionFactor, create)
The most common 5DOF 3D->2D calibration.
NonlinearFactorGraph graph
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)
A non-templated config holding any types of Manifold-group elements.
3D Pose manifold SO(3) x R^3 and group SE(3)
IsDerived< DERIVEDFACTOR > emplace_shared(Args &&... args)
Emplace a shared pointer to factor of given type.
gtsam
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autogenerated on Sun Dec 22 2024 04:16:47