Function opencv::sfm::reconstruct_3

pub fn reconstruct_3(
    points2d: &dyn ToInputArray, 
    ps: &mut dyn ToOutputArray, 
    points3d: &mut dyn ToOutputArray, 
    k: &mut dyn ToInputOutputArray, 
    is_projective: bool
) -> Result<()>

Reconstruct 3d points from 2d correspondences while performing autocalibration.

Parameters

• points2d: Input vector of vectors of 2d points (the inner vector is per image).
• Ps: Output vector with the 3x4 projections matrices of each image.
• points3d: Output array with estimated 3d points.
• K: Input/Output camera matrix . Input parameters used as initial guess.
• is_projective: if true, the cameras are supposed to be projective.

This method calls below signature and extracts projection matrices from estimated K, R and t.

Note:

• Tracks must be as precise as possible. It does not handle outliers and is very sensible to them.

C++ default parameters

• is_projective: false