| OpenCV 4.3.0 Open Source Computer Vision

Functions
Triangulation
Structure From Motion

## Functions
void | cv::sfm::triangulatePoints (InputArrayOfArrays points2d, InputArrayOfArrays projection_matrices, OutputArray points3d)
| Reconstructs bunch of points by triangulation. More...

## Detailed Description

## Function Documentation

## ◆ triangulatePoints()

void cv::sfm::triangulatePoints | ( | InputArrayOfArrays | points2d,
|  | InputArrayOfArrays | projection_matrices,
|  | OutputArray | points3d
| ) |  |

`#include <opencv2/sfm/triangulation.hpp>`

Reconstructs bunch of points by triangulation.

Parameters

  points2d | Input vector of vectors of 2d points (the inner vector is per image). Has to be 2 X N.
  projection_matrices | Input vector with 3x4 projections matrices of each image.
  points3d | Output array with computed 3d points. Is 3 x N.

Triangulates the 3d position of 2d correspondences between several images. Reference: Internally it uses DLT method [96] 12.2 pag.312