SmartProjectionRigFactor.h File Reference

Smart factor on poses, assuming camera calibration is fixed. More...

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Classes
class	gtsam::SmartProjectionRigFactor< CAMERA >
struct	gtsam::traits< SmartProjectionRigFactor< CAMERA > >
	traits More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Smart factor on poses, assuming camera calibration is fixed.

Same as SmartProjectionPoseFactor, except:

• it is templated on CAMERA (i.e., it allows cameras beyond pinhole)
• it admits a different calibration for each measurement (i.e., it can model a multi-camera rig system)
• it allows multiple observations from the same pose/key (again, to model a multi-camera system)

  Author

  Luca Carlone

  Frank Dellaert