This module contains functions to perform various geometric algorithms.
This contains intrinsic camera parameters as per this Wikipedia page.
A 3d point which is relative to the camera's optical center and orientation where
the positive Y axis is up and positive Z axis is forwards from the center of the
camera. The unit of distance of a
This contains a camera pose, which is a pose of the camera relative to the world.
This transforms camera points (with depth as
This contains basic camera specifications that one could find on a manufacturer's website. This only contains parameters that cannot be changed about a camera. The focal length is not included since that can typically be changed and images can also be magnified.
This stores an essential matrix, which is satisfied by the following constraint:
A point on an image frame. This type should only be used when the point location is on the image frame in pixel coordinates. This means the keypoint is neither undistorted nor normalized.
Normalized keypoint to world point match
Normalized keypoint match
A point in normalized image coordinates. This keypoint has been corrected for distortion and normalized based on the camrea intrinsic matrix. Please note that the intrinsic matrix accounts for the natural focal length and any magnification to the image. Ultimately, the key points must be represented by their position on the camera sensor and normalized to the focal length of the camera.
This contains a relative pose, which is a pose that transforms the
A point in "world" coordinates. This means that the real-world units of the pose are unknown, but the unit of distance and orientation are the same as the current reconstruction.