InvDepthFactorVariant3.h File Reference

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

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Classes
class	gtsam::InvDepthFactorVariant3a
	Binary factor representing the first visual measurement using an inverse-depth parameterization. More...
class	gtsam::InvDepthFactorVariant3b
	Ternary 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). The factor involves two poses and a landmark. The first pose is the reference frame from which (theta, phi, rho) is measured.

Author

Chris Beall, Stephen Williams