gtsam
4.0.0
gtsam

Inverse Depth Factor based on Civera09tro, Montiel06rss. More...
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Classes  
class  gtsam::InvDepthFactorVariant1 
Binary factor representing a visual measurement using an inversedepth parameterization. More...  
Namespaces  
gtsam  
Global functions in a separate testing namespace.  
Inverse Depth Factor based on Civera09tro, Montiel06rss.
Landmarks are parameterized as (x,y,z,theta,phi,rho). The factor involves a single pose and a landmark. The landmark parameterization contains the reference point internally (and will thus be updated as well during optimization).