triangulatePoints

geometryfunctionOpenCV 5.0.0

import { triangulatePoints } from '@banou/opencv-wasm'

Use after await initOpenCV(). See the initialization and named imports guide.

Explore visually: Triangulation →

Recover a 3D point by intersecting the viewing rays implied by multiple camera observations.

VISUAL WALKTHROUGH3D vision

REFERENCE INPUTScene and camera observations

Two cameras observe the same scene point from different positions.

→

RESULTReconstruct the scene point

Convert homogeneous coordinates and check depth and reprojection error.

Illustrative example. The stages explain the method; they are not a live OpenCV execution.

This function reconstructs 3-dimensional points (in homogeneous coordinates) by using their observations with a stereo camera.

Note: Keep in mind that all input data should be of float type in order for this function to work.

Note: If the projection matrices from stereoRectify are used, then the returned points are represented in the first camera's rectified coordinate system.

See: reprojectImageTo3D

triangulatePoints(projMatr1: Mat, projMatr2: Mat, projPoints1: Mat, projPoints2: Mat, points4D: Mat): void;

projMatr1

3x4 projection matrix of the first camera, i.e. this matrix projects 3D points given in the world's coordinate system into the first image.

projMatr2

3x4 projection matrix of the second camera, i.e. this matrix projects 3D points given in the world's coordinate system into the second image.

projPoints1

2xN array of feature points in the first image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.

projPoints2

2xN array of corresponding points in the second image. In the case of the c++ version, it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.

points4D

Output destination, filled by the native operation. 4xN array of reconstructed points in homogeneous coordinates. These points are returned in the world's coordinate system.

Upstream declaration ↗

These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.