Function aslam::linearTriangulateFromNViews(const Eigen::Matrix3Xd&, const Eigen::Matrix3Xd&, Eigen::Vector3d *)¶
Function Documentation¶
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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.
- 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.
- Returns
Was the triangulation successful?