| 45 | } |
| 46 | |
| 47 | bool GeometricTools::Triangulate(Eigen::Vector3f &x_c1, Eigen::Vector3f &x_c2,Eigen::Matrix<float,3,4> &Tc1w ,Eigen::Matrix<float,3,4> &Tc2w , Eigen::Vector3f &x3D) |
| 48 | { |
| 49 | Eigen::Matrix4f A; |
| 50 | A.block<1,4>(0,0) = x_c1(0) * Tc1w.block<1,4>(2,0) - Tc1w.block<1,4>(0,0); |
| 51 | A.block<1,4>(1,0) = x_c1(1) * Tc1w.block<1,4>(2,0) - Tc1w.block<1,4>(1,0); |
| 52 | A.block<1,4>(2,0) = x_c2(0) * Tc2w.block<1,4>(2,0) - Tc2w.block<1,4>(0,0); |
| 53 | A.block<1,4>(3,0) = x_c2(1) * Tc2w.block<1,4>(2,0) - Tc2w.block<1,4>(1,0); |
| 54 | |
| 55 | Eigen::JacobiSVD<Eigen::Matrix4f> svd(A, Eigen::ComputeFullV); |
| 56 | |
| 57 | Eigen::Vector4f x3Dh = svd.matrixV().col(3); |
| 58 | |
| 59 | if(x3Dh(3)==0) |
| 60 | return false; |
| 61 | |
| 62 | // Euclidean coordinates |
| 63 | x3D = x3Dh.head(3)/x3Dh(3); |
| 64 | |
| 65 | return true; |
| 66 | } |
| 67 | |
| 68 | } //namespace ORB_SLAM |
nothing calls this directly
no outgoing calls
no test coverage detected