gtsam  4.1.0
gtsam
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