Function aslam::linearTriangulateFromNViews(const Eigen::Matrix3Xd&, const Eigen::Matrix3Xd&, Eigen::Vector3d *)

Function Documentation

TriangulationResult aslam::linearTriangulateFromNViews(const Eigen::Matrix3Xd &t_G_bv, const Eigen::Matrix3Xd &p_G_C, Eigen::Vector3d *p_G_P)

brief Triangulate a 3d point from a set of n keypoint measurements as bearing vectors.

Return

Was the triangulation successful?

Parameters

• t_G_bv: Back-projected bearing vectors from visual frames to observations, expressed in the global frame.

• p_G_C: Global positions of visual frames (cameras).

• p_G_P: Triangulated point in global frame.