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Classes | Public Member Functions | List of all members
sfm::Triangulate Class Reference

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: