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 triangulate
• a the normalized keypoint on camera A
• b the normalized keypoint on camera B
• O the optical center of a camera
• @ the virtual image plane

                       @
                       @
              p--------b--------O
             /         @
            /          @
           /           @
          /            @
  @@@@@@@a@@@@@
        /
       /
      /
     O

Structs

MinSquaresTriangulator	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"