Function aslam::linearTriangulateFromNViewsMultiCam¶
Defined in File triangulation.h
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?