[−][src]Crate cv_geom
This crate contains computational geometry algorithms for Rust CV.
Triangulation
In this problem we know the relative pose of cameras and the Bearing
of the same feature
observed in each camera frame. We want to find the point of intersection from all cameras.
p
the point we are trying to triangulatea
the normalized keypoint on camera Ab
the normalized keypoint on camera BO
the optical center of a camera@
the virtual image plane
@
@
p--------b--------O
/ @
/ @
/ @
/ @
@@@@@@@a@@@@@
/
/
/
O
Structs
MinSquaredTriangulator | This solves triangulation problems by simply minimizing the squared reprojection error of all observances. |
RelativeDltTriangulator | Based on algorithm 12 from "Multiple View Geometry in Computer Vision, Second Edition" |