Function aslam::linearTriangulateFromNViewsMultiCam

Function Documentation

TriangulationResult aslam::linearTriangulateFromNViewsMultiCam(const Aligned<std::vector, Eigen::Vector2d> &measurements_normalized, const std::vector<size_t> &measurement_camera_indices, const Aligned<std::vector, aslam::Transformation> &T_G_B, const Aligned<std::vector, aslam::Transformation> &T_B_C, Eigen::Vector3d *G_point)

brief Triangulate a 3d point from a set of n keypoint measurements in m cameras.

Parameters
  • measurements_normalized – Keypoint measurements on normalized image plane. Should be n long.

  • measurement_camera_indices – Which camera index each measurement corresponds to. Should be n long, and should be 0 <= index < m.

  • T_W_B – Pose of the body frame of reference w.r.t. the global frame, expressed in the global frame. Should be n long.

  • T_B_C – Pose of the cameras w.r.t. the body frame expressed in the body frame of reference. Should be m long.

  • G_point – Triangulated point in global frame.

Returns

Was the triangulation successful?