Delete obsolete code and comment to make `get3DPoint` more understandable
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Restructuring of get3DPoint
to be more easily understood. See the following survey comment for the used approach of the code.
Since we change from double
to float
mid-calculation, I couldn't rewrite everything as I wanted without breaking tests.
/* Basic Idea:
* All points projecting onto a point on the image plane lie on the same
* line (cf. pinhole camera model). We can determine this line in the form:
*
* g: x = lambda * v
*
* This line exists in camera coordinates. Let v be the projection with
* depth 1 (i.e. v_3 = 1). Then lambda is the depth of the resulting point.
* We'll continue to call lambda z instead, to show this.
* We now want to determine the depth at which the resulting point has height h
* in world coordinates. The transformation from cam to world is:
*
* W = R * C - T
* W := Point in World Coords
* C := Point in Cam Coords
* R,T := Rotation and Translation of Cam
*
* By putting in our x = z * v, we get:
* W = R * (z * v) - T
* <=> W = z * Rv - T
* <=> W + T = z * Rv
* <=> (W + T)/Rv = z
* We select the third row of this to solve for z. Finally g(z) is transformed
* into World Coords.
*/
Closes #118 (closed)
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added To Do discussion refactoring labels
- Resolved by Schrödter, Tobias
added 28 commits
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8a2554eb...911f0ec5 - 16 commits from branch
master
- 7f36e2e2 - Deleted debug output and old method
- 9b926239 - Write rotation vector directly, without c-array
- fc73e6c1 - Tranlation vector as cv::Vec3d
- 142c9924 - Restructure calculation of z
- 11ff031e - Rotate translation vector later
- 602695ff - Change to Matx instead of Mat for rot
- f196f1ce - Clarified comment
- 0f74e0c0 - More comments
- 1b497f80 - Take const parameter get3DPoint
- 51c5d8e0 - Change comments to argue about lines in pinhole model
- 1b949f45 - Delete now unused function transformRT
- 7aefd9c6 - Change get3DPoint to const method
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8a2554eb...911f0ec5 - 16 commits from branch
enabled an automatic merge when the pipeline for 7aefd9c6 succeeds
mentioned in commit c2b62bd0
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