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]	p1	Camera center position of frame A in coordinate frame A
[in]	e1	Ray through keypoint of frame A in coordinate frame A.
[in]	p2	Camera center position of frame B in coordinate frame A.
[in]	e2	Ray through keypoint of frame B in coordinate frame A.
[in]	sigma	Ray uncertainty.
[out]	isValid	Is the triangulation valid.
[out]	isParallel	Are the rays parallel?

Returns

Homogeneous coordinates of triangulated point.