Triangulation routine that triangulates a track from camera poses and 2D image positions while keeping triangulation statistics. More...

#include <triangulate.h>

Classes
struct	Options

struct	Statistics

Public Member Functions
	Triangulate (Options const &options)

void	print_statistics (Statistics const &stats, std::ostream &out) const

bool	triangulate (std::vector< CameraPose const * > const &poses, std::vector< math::Vec2f > const &positions, math::Vec3d track_pos, Statistics stats=nullptr, std::vector< std::size_t > *outliers=nullptr) const

Detailed Description

Triangulation routine that triangulates a track from camera poses and 2D image positions while keeping triangulation statistics.

In contrast to the low-level functions, this implementation checks for triangulation problems such as large reprojection error, tracks appearing behind the camera, and unstable triangulation angles.

Definition at line 58 of file triangulate.h.

Constructor & Destructor Documentation

◆ Triangulate()

sfm::Triangulate::Triangulate ( Options const & options )

inlineexplicit

Definition at line 120 of file triangulate.h.

Member Function Documentation

◆ print_statistics()

void sfm::Triangulate::print_statistics	(	Statistics const &	stats,
		std::ostream &	out
	)		const

Definition at line 186 of file triangulate.cc.

◆ triangulate()

bool sfm::Triangulate::triangulate	(	std::vector< CameraPose const * > const &	poses,
		std::vector< math::Vec2f > const &	positions,
		math::Vec3d *	track_pos,
		Statistics *	stats = `nullptr`,
		std::vector< std::size_t > *	outliers = `nullptr`
	)		const

Definition at line 88 of file triangulate.cc.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/mve-354a652461377939ca136f451ba3271a1c52ee65/libs/sfm/triangulate.h
/builddir/build/BUILD/mve-354a652461377939ca136f451ba3271a1c52ee65/libs/sfm/triangulate.cc