sksurgerycalibration.algorithms.triangulate module¶
Functions for Triangulation using Harley method
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sksurgerycalibration.algorithms.triangulate.
l2r_to_p2d
(p2d, l2r)[source]¶ Function to convert l2r array to p2d array, which removes last row of l2r to create p2d. Notes. l2r_to_p2d() is used in triangulate_points_hartley() to avoid too many variables in one method (see R0914).
Parameters: - p2d – [3x4] narray
- l2r – [4x4] narray
Return p2d: [3x4] narray
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sksurgerycalibration.algorithms.triangulate.
new_e2_array
(e2_array, r2_array, left_to_right_trans_vector)[source]¶ Function to create a new_e2_array which concatenate left_to_right_trans_vector into the last column of e2_array. Notes. new_e2_array() is used in triangulate_points_hartley() to avoid too many variables in one method (see R0914)
Parameters: - e2_array – [4x4] narray
- r2_array – = left_to_right_rotation_matrix: [3x3] narray
- left_to_right_trans_vector – [3x1] narray
Return e2_array: [4x4] narray
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sksurgerycalibration.algorithms.triangulate.
triangulate_points_hartley
(input_undistorted_points, left_camera_intrinsic_params, right_camera_intrinsic_params, left_to_right_rotation_matrix, left_to_right_trans_vector)[source]¶ Function to compute triangulation of points using Harley
Parameters: - input_undistorted_points – [4x4] narray
- left_camera_intrinsic_params – [3x3] narray
- right_camera_intrinsic_params – [3x3] narray
- left_to_right_rotation_matrix – [3x3] narray
- left_to_right_trans_vector – [3x1] narray
Return outputPoints: [4x3] narray
- Hartley, Richard I., and Peter Sturm. “Triangulation.” Computer vision and image understanding 68, no. 2 (1997): 146-157.
- Prince, Simon JD. Computer vision: models, learning, and inference. Cambridge University Press, 2012.
Return outputPoints:
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sksurgerycalibration.algorithms.triangulate.
triangulate_points_opencv
(input_undistorted_points, left_camera_intrinsic_params, right_camera_intrinsic_params, left_to_right_rotation_matrix, left_to_right_trans_vector)[source]¶ Function to compute triangulation of points using Harley with cv2.triangulatePoints
Parameters: - input_undistorted_points – [4x4] narray
- left_camera_intrinsic_params – [3x3] narray
- right_camera_intrinsic_params – [3x3] narray
- left_to_right_rotation_matrix – [3x3] narray
- left_to_right_trans_vector – [3x1] narray
Return output_points: [4x3] narray
- Other related variables:
- left_undistorted, right_undistorted: point image positions in 2 cameras left_undistorted[4x2], right_undistorted[4x2] from input_undistorted_points [4x4]
Hartley, Richard I., and Peter Sturm. “Triangulation.” Computer vision and image understanding 68, no. 2 (1997): 146-157.