# [−][src]Module cv_core::geom

This module contains functions to perform various geometric algorithms.

## Translation along a bearing given one prior depth

This problem consumes a direction to translate along, a `from`

`CameraPoint`

,
and a `to`

`NormalizedKeyPoint`

coordinate.

`t`

the`translation`

bearing vector`a`

the`from`

point`b`

the`to`

epipolar point`O`

the optical center`@`

the virtual image plane

```
t<---a
/
/
@@@b@@@/@@@@@
| /
| /
|/
O
```

The `from`

coordinate is the relative 3d coordinate in camera space before translation.

The `to`

coordinate is just a normalized keypoint that we wish to find the optimal translation
to reproject as close as possible to.

The `translation`

is a vector which will be scaled (multiplied) by the return value to
get the actual 3d translation to move from `from`

to `to`

in 3d space.

Solutions to this problem:

It is recommended to use `triangulate_bearing_reproject`

, as it is incredibly cheap to compute.

## Functions

triangulate_bearing_intersection | This solves the translation along a bearing triangulation assuming that there is a perfect intersection. |

triangulate_bearing_reproject | This solves the translation along a bearing triangulation by minimizing the reprojection error. |