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okvis::triangulation Namespace Reference

triangulation A namespace for operations related to triangulation. More...

Classes

class  ProbabilisticStereoTriangulator
 The ProbabilisticStereoTriangulator class. More...
 

Functions

Eigen::Vector4d triangulateFast (const Eigen::Vector3d &p1, const Eigen::Vector3d &e1, const Eigen::Vector3d &p2, const Eigen::Vector3d &e2, double sigma, bool &isValid, bool &isParallel)
 Triangulate the intersection of two rays. More...
 

Detailed Description

triangulation A namespace for operations related to triangulation.

Function Documentation

Eigen::Vector4d okvis::triangulation::triangulateFast ( const Eigen::Vector3d &  p1,
const Eigen::Vector3d &  e1,
const Eigen::Vector3d &  p2,
const Eigen::Vector3d &  e2,
double  sigma,
bool &  isValid,
bool &  isParallel 
)

Triangulate the intersection of two rays.

Warning
The rays e1 and e2 need to be normalized!
Parameters
[in]p1Camera center position of frame A in coordinate frame A
[in]e1Ray through keypoint of frame A in coordinate frame A.
[in]p2Camera center position of frame B in coordinate frame A.
[in]e2Ray through keypoint of frame B in coordinate frame A.
[in]sigmaRay uncertainty.
[out]isValidIs the triangulation valid.
[out]isParallelAre the rays parallel?
Returns
Homogeneous coordinates of triangulated point.