2013-07-31 02:52:06 +08:00
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file triangulation.h
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* @brief Functions for triangulation
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* @date July 31, 2013
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* @author Chris Beall
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*/
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#pragma once
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#include <vector>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Cal3_S2.h>
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2013-07-31 23:36:39 +08:00
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#include <gtsam_unstable/base/dllexport.h>
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2013-07-31 02:52:06 +08:00
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namespace gtsam {
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/**
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* Function to triangulate 3D landmark point from an arbitrary number
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* of poses (at least 2) using the DLT. The function checks that the
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* resulting point lies in front of all cameras, but has no other checks
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* to verify the quality of the triangulation.
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* @param poses A vector of camera poses
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* @param measurements A vector of camera measurements
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* @param K The camera calibration
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* @return Returns a Point3 on success, boost::none otherwise.
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*/
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2013-07-31 23:36:39 +08:00
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GTSAM_UNSTABLE_EXPORT boost::optional<Point3> triangulatePoint3(const std::vector<Pose3>& poses,
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2013-07-31 02:52:06 +08:00
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const std::vector<Point2>& measurements, const Cal3_S2& K);
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} // \namespace gtsam
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