gtsam  4.1.0
gtsam
InvDepthFactorVariant3.h File Reference

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 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