Smart factor on poses, assuming camera calibration is fixed. Same as SmartProjectionPoseFactor, except: More...
#include <gtsam/slam/SmartProjectionFactor.h>
Include dependency graph for SmartProjectionRigFactor.h:
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Classes | |
| class | gtsam::SmartProjectionRigFactor< CAMERA > |
| struct | gtsam::traits< SmartProjectionRigFactor< CAMERA > > |
| traits More... | |
Namespaces | |
| gtsam | |
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)
