This example runs triangulation several times using 3 different approaches: LOST, DLT, and DLT with optimization. It reports the covariance and the runtime for each approach. More...

#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/triangulation.h>
#include <chrono>
#include <iostream>
#include <random>
#include <optional>

Include dependency graph for TriangulationLOSTExample.cpp:

Go to the source code of this file.

Functions
Point2Vector	AddNoiseToMeasurements (const Point2Vector &measurements, const double measurementSigma)

void	GetLargeCamerasDataset (CameraSet< PinholeCamera< Cal3_S2 >> cameras, std::vector< Pose3 > poses, Point3 point, Point2Vector measurements)

void	GetSmallCamerasDataset (CameraSet< PinholeCamera< Cal3_S2 >> cameras, std::vector< Pose3 > poses, Point3 point, Point2Vector measurements)

int	main (int argc, char *argv[])

void	PrintCovarianceStats (const Matrix &mat, const std::string &method)

void	PrintDuration (const std::chrono::nanoseconds dur, double num_samples, const std::string &method)

static std::mt19937	rng (42)

Detailed Description

This example runs triangulation several times using 3 different approaches: LOST, DLT, and DLT with optimization. It reports the covariance and the runtime for each approach.

Author: Akshay Krishnan

Date: 2022-07-10

Definition in file TriangulationLOSTExample.cpp.

Function Documentation

◆ AddNoiseToMeasurements()

Point2Vector AddNoiseToMeasurements	(	const Point2Vector &	measurements,
		const double	measurementSigma
	)

Definition at line 95 of file TriangulationLOSTExample.cpp.

◆ GetLargeCamerasDataset()

void GetLargeCamerasDataset	(	CameraSet< PinholeCamera< Cal3_S2 >> *	cameras,
		std::vector< Pose3 > *	poses,
		Point3 *	point,
		Point2Vector *	measurements
	)

Definition at line 54 of file TriangulationLOSTExample.cpp.

◆ GetSmallCamerasDataset()

void GetSmallCamerasDataset	(	CameraSet< PinholeCamera< Cal3_S2 >> *	cameras,
		std::vector< Pose3 > *	poses,
		Point3 *	point,
		Point2Vector *	measurements
	)