triangulateMultiview
3-D locations of world points matched across multiple images
Syntax
Description
returns the locations of 3-D world points that correspond to points matched across
multiple images taken with calibrated cameras. worldPoints
= triangulateMultiview(pointTracks
,cameraPoses
,intrinsics
)pointTracks
specifies an array of matched points. cameraPoses
and
intrinsics
specify camera pose information and intrinsics,
respectively. The function does not account for lens distortion.
[
additionally returns the mean reprojection error for each 3-D world point using all
input arguments in the prior syntax.worldPoints
,reprojectionErrors
]
= triangulateMultiview(___)
[
additionally returns the indices of valid and invalid world points. Valid points
are located in front of the cameras.worldPoints
,reprojectionErrors
,validIndex
]
= triangulateMultiview(___)
Examples
Input Arguments
Output Arguments
Tips
Before detecting the points, correct the images for lens distortion by using by using the
undistortImage
function. Alternatively,
you can directly undistort the points by using the undistortPoints
function.
References
[1] Hartley, Richard, and Andrew Zisserman. Multiple View Geometry in Computer Vision. 2nd ed. Cambridge, UK; New York; Cambridge University Press, 2003.
Version History
See Also
Apps
Functions
undistortImage
|estimateCameraParameters
|bundleAdjustment
|bundleAdjustmentMotion
|bundleAdjustmentStructure
|undistortPoints
|relativeCameraPose