stereo_triangulation.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Mar 10, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_
#define INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_

#include <Eigen/Core>

namespace okvis {
namespace triangulation {

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);
}
}

#endif /* INCLUDE_OKVIS_TRIANGULATION_STEREO_TRIANGULATION_HPP_ */