This module contains functions to perform various geometric algorithms.
Othe optical center
@the virtual image plane
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from coordinate is the relative 3d coordinate in camera space before translation.
to coordinate is just a normalized keypoint that we wish to find the optimal translation
to reproject as close as possible to.
translation is a vector which will be scaled (multiplied) by the return value to
get the actual 3d translation to move from
to in 3d space.
Solutions to this problem:
It is recommended to use
triangulate_bearing_reproject, as it is incredibly cheap to compute.
This solves the translation along a bearing triangulation assuming that there is a perfect intersection.
This solves the translation along a bearing triangulation by minimizing the reprojection error.