MVE - Multi-View Environment mve-devel
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Classes | Namespaces | Functions
triangulate.h File Reference
#include <vector>
#include <ostream>
#include "math/vector.h"
#include "sfm/correspondence.h"
#include "sfm/camera_pose.h"
#include "sfm/defines.h"
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Classes

class  sfm::Triangulate
 Triangulation routine that triangulates a track from camera poses and 2D image positions while keeping triangulation statistics. More...
 
struct  sfm::Triangulate::Options
 
struct  sfm::Triangulate::Statistics
 

Namespaces

namespace  sfm
 Structure-from-Motion library.
 

Functions

bool sfm::is_consistent_pose (Correspondence2D2D const &match, CameraPose const &pose1, CameraPose const &pose2)
 Given a two-view pose configuration and a correspondence, this function returns true if the triangulated point is in front of both cameras.
 
math::Vector< double, 3 > sfm::triangulate_match (Correspondence2D2D const &match, CameraPose const &pose1, CameraPose const &pose2)
 Given an image correspondence in two views and the corresponding poses, this function triangulates the 3D point coordinate using the DLT algorithm.
 
math::Vector< double, 3 > sfm::triangulate_track (std::vector< math::Vec2f > const &pos, std::vector< CameraPose const * > const &poses)
 Given any number of 2D image positions and the corresponding camera poses, this function triangulates the 3D point coordinate using the DLT algorithm.