From 3a4cedac1f32775dcb033398bf726e2ee699c068 Mon Sep 17 00:00:00 2001 From: lcarlone Date: Sun, 7 Nov 2021 12:26:50 -0500 Subject: [PATCH] fixed readme --- gtsam/slam/ReadMe.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/gtsam/slam/ReadMe.md b/gtsam/slam/ReadMe.md index d216b9181..ae5edfdac 100644 --- a/gtsam/slam/ReadMe.md +++ b/gtsam/slam/ReadMe.md @@ -42,11 +42,9 @@ If the calibration should be optimized, as well, use `SmartProjectionFactor` ins 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 system; +- it allows measurements from multiple cameras, each camera with fixed but potentially different intrinsics and extrinsics; - it allows multiple observations from the same pose/key, again, to model a multi-camera system. -TODO: DimPose and ZDim are hardcoded. Copy/paste from `SmartProjectionPoseFactor`. Unclear what the use case is. - ## Linearized Smart Factors The factors below are less likely to be relevant to the user, but result from using the non-linear smart factors above.