triangulation.h File Reference

Functions for triangulation. More...

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Classes
class	gtsam::TriangulationUnderconstrainedException
	Exception thrown by triangulateDLT when SVD returns rank < 3. More...
class	gtsam::TriangulationCheiralityException
	Exception thrown by triangulateDLT when landmark is behind one or more of the cameras. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Functions
Point3	gtsam::triangulateDLT (const std::vector< Matrix > &projection_matrices, const std::vector< Point2 > &measurements, double rank_tol)
	DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More...
template<class CALIBRATION >
std::pair < NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const std::vector< Point2 > &measurements, Key landmarkKey, const Point3 &initialEstimate)
	Create a factor graph with projection factors from poses and one calibration. More...
template<class CALIBRATION >
std::pair < NonlinearFactorGraph, Values >	gtsam::triangulationGraph (const std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, Key landmarkKey, const Point3 &initialEstimate)
	Create a factor graph with projection factors from pinhole cameras (each camera has a pose and calibration) More...
Point3	gtsam::optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
	Optimize for triangulation. More...
template<class CALIBRATION >
Point3	gtsam::triangulateNonlinear (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const std::vector< Point2 > &measurements, const Point3 &initialEstimate)
	Given an initial estimate , refine a point using measurements in several cameras. More...
template<class CALIBRATION >
Point3	gtsam::triangulateNonlinear (const std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, const Point3 &initialEstimate)
	Given an initial estimate , refine a point using measurements in several cameras. More...
template<class CALIBRATION >
Point3	gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const std::vector< Point2 > &measurements, double rank_tol=1e-9, bool optimize=false)
	Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More...
template<class CALIBRATION >
Point3	gtsam::triangulatePoint3 (const std::vector< PinholeCamera< CALIBRATION > > &cameras, const std::vector< Point2 > &measurements, double rank_tol=1e-9, bool optimize=false)
	Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More...

Detailed Description

Functions for triangulation.

Date

July 31, 2013

Author

Chris Beall