opengv::triangulation Namespace Reference

The namespace for the triangulation methods. More...

Functions
point_t	triangulate (const relative_pose::RelativeAdapterBase &adapter, size_t index)
	Compute the position of a 3D point seen from two viewpoints. Linear Method. More...
point_t	triangulate2 (const relative_pose::RelativeAdapterBase &adapter, size_t index)
	Compute the position of a 3D point seen from two viewpoints. Fast non-linear approximation (closed-form). More...

Detailed Description

The namespace for the triangulation methods.

Function Documentation

point_t opengv::triangulation::triangulate	(	const relative_pose::RelativeAdapterBase &	adapter,
		size_t	index
	)

Compute the position of a 3D point seen from two viewpoints. Linear Method.

Parameters

[in]	adapter	Visitor holding bearing-vector correspondences, plus the relative transformation.
[in]	index	The index of the correspondence being triangulated.

Returns

The 3D point expressed in the first viewpoint.

point_t opengv::triangulation::triangulate2	(	const relative_pose::RelativeAdapterBase &	adapter,
		size_t	index
	)

Compute the position of a 3D point seen from two viewpoints. Fast non-linear approximation (closed-form).

Parameters

[in]	adapter	Visitor holding bearing-vector correspondences, plus the relative transformation.
[in]	index	The index of the correspondence being triangulated.

Returns

The 3D point expressed in the first viewpoint.