Functions
TriangulationLOSTExample.cpp File Reference

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 
)

Definition at line 79 of file TriangulationLOSTExample.cpp.

◆ main()

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

Definition at line 108 of file TriangulationLOSTExample.cpp.

◆ PrintCovarianceStats()

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

Definition at line 39 of file TriangulationLOSTExample.cpp.

◆ PrintDuration()

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

Definition at line 47 of file TriangulationLOSTExample.cpp.

◆ rng()

static std::mt19937 rng ( 42  )
static


gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:09:55