InvDepthFactorVariant2.h File Reference

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

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Classes
class	gtsam::InvDepthFactorVariant2
	Binary factor representing a visual measurement using an inverse-depth parameterization. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Inverse Depth Factor based on Civera09tro, Montiel06rss.

Landmarks are parameterized as (theta,phi,rho) with the reference point created at landmark construction and then never updated (i.e. the point [x,y,z] is treated as fixed and not part of the optimization). The factor involves a single pose and a landmark.

Author

Chris Beall, Stephen Williams