InvDepthFactor3.h File Reference

Inverse Depth Factor based on Civera09tro, Montiel06rss. More...

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Classes
class	gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >
	Ternary factor representing a visual measurement that includes inverse depth. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

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