gtsam
4.0.0
gtsam

Inverse Depth Factor based on Civera09tro, Montiel06rss. More...
Go to the source code of this file.
Classes  
class  gtsam::InvDepthFactorVariant3a 
Binary factor representing the first visual measurement using an inversedepth parameterization. More...  
class  gtsam::InvDepthFactorVariant3b 
Ternary 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 (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.