[−][src]Crate cv_geom

This module contains functions to perform various geometric algorithms.

Triangulation of a point with a given camera transformation

In this problem we have a RelativeCameraPose and two Bearing. We want to find the point of intersection from the two cameras in camera A's space.

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

//! Solutions to this problem:

[make_one_pose_dlt_triangulator]

Translation along a bearing given one prior depth

This problem consumes a direction to translate along, a from CameraPoint, and a to Bearing 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:

[triangulate_bearing_intersection]
[triangulate_bearing_reproject]

It is recommended to use [triangulate_bearing_reproject], as it is incredibly cheap to compute.

Triangulation from variable number of camera poses

In this problem you have several camera poses and bearing pairs, where each bearing is an observation on the image produced from the corresponding camera pose. The desired output is a triangulated point.

[triangulate_least_square_reprojection_error]

Structs

BearingIntersectionTriangulator	This solves the translation along a bearing triangulation assuming that there is a perfect intersection.
BearingMinimizeReprojectionErrorTriangulator	This solves the translation along a bearing triangulation by minimizing the reprojection error.
MinimalSquareReprojectionErrorTriangulator	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"