Function aslam::triangulateFeatureTrack¶
Defined in File triangulation.h
Function Documentation¶
-
TriangulationResult
aslam
::
triangulateFeatureTrack
(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.
Frames: W: Arbitrary frame which the resulting landmark will be expressed in. B: Body frame (of the nframe).
- Parameters
[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.