OKVIS ROS
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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... | |
triangulation A namespace for operations related to triangulation.
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.
[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? |