struct mola::ASLAM_gtsam::SLAM_state::StereoSmartFactorState

Overview

#include <ASLAM_gtsam.h>

struct StereoSmartFactorState
{
    // fields

    gtsam::Cal3_S2Stereo::shared_ptr camera_K;
    std::map<mola::fid_t, gtsam::SmartStereoProjectionPoseFactor::shared_ptr> factors;
    TriMap<std::size_t> ids;
};

Detailed Documentation

Fields

TriMap<std::size_t> ids

Relationship between ID numbers in the different systems