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.