This crate contains computational geometry algorithms for Rust CV.
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.
pthe point we are trying to triangulate
athe normalized keypoint on camera A
bthe normalized keypoint on camera B
Othe optical center of a camera
@the virtual image plane
@ @ p--------b--------O / @ / @ / @ / @ @@@@@@@a@@@@@ / / / O
This solves triangulation problems by simply minimizing the squared reprojection error of all observances.
Based on algorithm 12 from "Multiple View Geometry in Computer Vision, Second Edition"