Triangulation

• Triangulation

  • Prepare camera parameters

  • Build a triangulator

  • Triangulate points from 2D to 3D

  • Get reprojection error

  • Camera selection

Overview

Triangulators in XRMoCap are sub-classes of XRPrimer triangulator. For basic usage of triangulators, please refer to xrprimer doc.

Triangulate points from 2D to 3D

In XRMoCap, we allow triangulators defined in xrmocap/ops/triangulation to take input data in arbitrary shape. The first dim shall be view and the last dim shall be 2+n while n >=0. Here are shapes of some useful examples below:

points.shape	ret_points3d.shape
[n_view, n_kps, 2]	[n_kps, 3]
[n_view, n_frame, n_kps, 2]	[n_frame, n_kps, 3]
[n_view, n_person, n_frame, n_kps, 2]	[n_frame, n_person, n_kps, 3]