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fixed readme

release/4.3a0
lcarlone 2021-11-07 12:26:50 -05:00
parent 5efde5246d
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@ -42,11 +42,9 @@ If the calibration should be optimized, as well, use `SmartProjectionFactor` ins
Same as `SmartProjectionPoseFactor`, except: Same as `SmartProjectionPoseFactor`, except:
- it is templated on `CAMERA`, i.e., it allows cameras beyond pinhole; - 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. - 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 ## 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. The factors below are less likely to be relevant to the user, but result from using the non-linear smart factors above.