Function mola::vision::triangulateSinglePoint

• Defined in File geometry.h

Function Documentation

std::optional<mrpt::math::TPoint3Df> mola::vision::triangulateSinglePoint(const mrpt::math::TPoint2Df &pt1, const mrpt::math::TPoint2Df &pt2, const Eigen::Matrix<float, 3, 3> &R, const Eigen::Vector3f &t)

Triangulate a single point from two normalized image points and relative pose T_12 = [R | t] (pose of camera 2 expressed in camera 1 frame). Returns std::nullopt if point is behind a camera or degenerate.