Function opencv::sfm::reconstruct_def

source · 
pub fn reconstruct_def(
    points2d: &impl ToInputArray,
    ps: &mut impl ToOutputArray,
    points3d: &mut impl ToOutputArray,
    k: &mut impl ToInputOutputArray
) -> Result<()>
Expand description

Reconstruct 3d points from 2d correspondences while performing autocalibration.

§Parameters

  • points2d: Input vector of vectors of 2d points (the inner vector is per image).
  • Ps: Output vector with the 3x4 projections matrices of each image.
  • points3d: Output array with estimated 3d points.
  • K: Input/Output camera matrix inline formula. Input parameters used as initial guess.
  • is_projective: if true, the cameras are supposed to be projective.

This method calls below signature and extracts projection matrices from estimated K, R and t.

Note:

  • Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.

§Note

This alternative version of reconstruct function uses the following default values for its arguments:

  • is_projective: false