Function aslam::triangulateFeatureTrack

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).

  • [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.