Defined in File triangulation.h
fastTriangulateFeatureTrack(const aslam::FeatureTrack &track, const aslam::TransformationVector &T_W_Bs, Eigen::Vector3d *W_landmark)¶
brief Triangulates a feature track together with a list of body poses.
Track length and size of T_W_Bs is expected to be equal. Uses the faster linearTriangulateFromNViews(Matrix3d, Matrix3d, Vector3d*).
Frames: W: Arbitrary frame which the resulting landmark will be expressed in. B: Body frame (of the nframe).
[in] track – The feature track to be triangulated.
[in] T_W_Bs – The list of body poses the landmark was seen from.
[out] W_Landmark – The triangulated landmark, expressed in frame W.