Function opencv::sfm::normalize_isotropic_points

source · 
pub fn normalize_isotropic_points(
    points: &impl ToInputArray,
    normalized_points: &mut impl ToOutputArray,
    t: &mut impl ToOutputArray
) -> Result<()>
Expand description

This function normalizes points. (isotropic).

§Parameters

  • points: Input vector of N-dimensional points.
  • normalized_points: Output vector of the same N-dimensional points but with mean 0 and average norm inline formula.
  • T: Output 3x3 transform matrix such that inline formula, where inline formula are the points to normalize and inline formula the normalized points.

Internally calls [preconditionerFromPoints] in order to get the scaling matrix before applying [applyTransformationToPoints]. This operation is an essential step before applying the DLT algorithm in order to consider the result as optimal.

Reference: HartleyZ00 4.4.4 pag.107.