Struct cv_geom::MinSquaredTriangulator

pub struct MinSquaredTriangulator { /* fields omitted */ }

This solves triangulation problems by simply minimizing the squared reprojection error of all observances.

This is a quick triangulator to execute and is fairly robust.

Implementations

impl MinSquaredTriangulator

pub fn new() -> Self

Creates a MinSquaredTriangulator with default values.

Same as calling Default::default.

pub fn epsilon(self, epsilon: f64) -> Self

Set the epsilon used in the symmetric eigen solver.

Default is 1e-9.

pub fn max_iterations(self, max_iterations: usize) -> Self

Set the maximum number of iterations for the symmetric eigen solver.

Default is 100.

Trait Implementations

impl Clone for MinSquaredTriangulator

fn clone(&self) -> MinSquaredTriangulator

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for MinSquaredTriangulator

impl Debug for MinSquaredTriangulator

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl Default for MinSquaredTriangulator

fn default() -> Self

Returns the "default value" for a type.

impl TriangulatorObservances for MinSquaredTriangulator

fn triangulate_observances<B: Bearing>(
    &self,
    pairs: impl IntoIterator<Item = (WorldToCamera, B)>
) -> Option<WorldPoint>