Class FactorStereoProjectionPose

Defined in File FactorStereoProjectionPose.h

Inheritance Relationships

Base Type

public mola::FactorBase (Class FactorBase)

Class Documentation

class FactorStereoProjectionPose : public mola::FactorBase 

Smart factor for a set of stereo-camera observations of one point landmark. The ID of the factor is the ID of the landmark.

Public Functions

FactorStereoProjectionPose() = default

inline FactorStereoProjectionPose(double sigma_xleft, double sigma_xright, double sigma_y, const StereoObservation &st, const id_t observing_kf, const id_t observed_landmark, const id_t camera_params, const mrpt::math::TPose3D &cameraPoseOnRobot = mrpt::math::TPose3D())

virtual std::size_t edge_count() const override: Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override: Access entity indices involved in this factor

Public Members

double sigma_xleft_: Noise model

double sigma_xright_

double sigma_y_

StereoObservation observation_

mola::id_t observing_kf_

mola::id_t observed_landmark_

mola::id_t camera_params_id_

mrpt::math::TPose3D cameraPoseOnRobot_