PlaneFactor_P1 Formula Derivation

[thornsu]

Thanks for your work. In this project, I noticed planefactor and its ceres jabobians, sorry I don't understand how to derivation it. And there is no corresponding formula in the paper. Can you add corresponding references? Thanks.

[rising-turtle]

Hi @thornsu, the plane factor was implemented to test the idea of coupling planes with visual features. The derivation could be found in this paper: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9091872