InvDepthFactorVariant1.h File Reference

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

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Classes
class	gtsam::InvDepthFactorVariant1
	Binary factor representing a visual measurement using an inverse-depth parameterization. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Inverse Depth Factor based on Civera09tro, Montiel06rss.

Landmarks are parameterized as (x,y,z,theta,phi,rho). The factor involves a single pose and a landmark. The landmark parameterization contains the reference point internally (and will thus be updated as well during optimization).

Author

Chris Beall, Stephen Williams