Class FactorStereoProjectionPose
Defined in File FactorStereoProjectionPose.h
Inheritance Relationships
Base Type
public mola::FactorBase(Class FactorBase)
Class Documentation
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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
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FactorStereoProjectionPose() = default
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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())
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virtual std::size_t edge_count() const override
Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.
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virtual mola::id_t edge_indices(const std::size_t i) const override
Access entity indices involved in this factor
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FactorStereoProjectionPose() = default