tfg.geometry.representation.ray.triangulate
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Triangulates 3d points by miminizing the sum of squared distances to rays.
tfg.geometry.representation.ray.triangulate(
startpoints, endpoints, weights, name='ray_triangulate'
)
The rays are defined by their start points and endpoints. At least two rays
are required to triangulate any given point. Contrary to the standard
reprojection-error metric, the sum of squared distances to rays can be
minimized in a closed form.
Note |
In the following, A1 to An are optional batch dimensions.
|
Args |
startpoints
|
A tensor of ray start points with shape [A1, ..., An, V, 3] ,
the number of rays V around which the solution points live should be
greater or equal to 2, otherwise triangulation is impossible.
|
endpoints
|
A tensor of ray endpoints with shape [A1, ..., An, V, 3] , the
number of rays V around which the solution points live should be greater
or equal to 2, otherwise triangulation is impossible. The endpoints
tensor should have the same shape as the startpoints tensor.
|
weights
|
A tensor of ray weights (certainties) with shape [A1, ..., An,
V] . Weights should have all positive entries. Weight should have at least
two non-zero entries for each point (at least two rays should have
certainties > 0).
|
name
|
A name for this op. The default value of None means "ray_triangulate".
|
Returns |
A tensor of triangulated points with shape [A1, ..., An, 3] .
|
Raises |
ValueError
|
If the shape of the arguments is not supported.
|
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Last updated 2022-10-28 UTC.
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