Function SolveTriangulationDlt

src/colmap/geometry/triangulation.cc:151–160

Solve the DLT system for the homogeneous point (smallest eigenvector of A).

// Solve the DLT system for the homogeneous point (smallest eigenvector of A).
inline bool SolveTriangulationDlt(const Eigen::Matrix4d& A,
                                  Eigen::Vector3d* xyz) {
  const Eigen::SelfAdjointEigenSolver<Eigen::Matrix4d> eigen_solver(A);
  if (eigen_solver.info() != Eigen::Success ||
      eigen_solver.eigenvectors()(3, 0) == 0) {
    return false;
  }
  *xyz = eigen_solver.eigenvectors().col(0).hnormalized();
  return true;
}

}  // namespace