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

cv-geom

Collection of computational geometry algorithms for Rust CV