kornia.geometry.epipolar
========================

.. currentmodule:: kornia.geometry.epipolar

Module with useful functionalities for epipolar geometry used by Structure from Motion

.. image:: data/epipolar_geometry.svg.png


Essential
---------
.. autofunction:: find_essential
.. autofunction:: essential_from_fundamental
.. autofunction:: essential_from_Rt
.. autofunction:: decompose_essential_matrix
.. autofunction:: motion_from_essential
.. autofunction:: motion_from_essential_choose_solution
.. autofunction:: relative_camera_motion

Fundamental
-----------

.. autofunction:: find_fundamental
.. autofunction:: fundamental_from_essential
.. autofunction:: fundamental_from_projections
.. autofunction:: compute_correspond_epilines
.. autofunction:: normalize_points
.. autofunction:: normalize_transformation
.. autofunction:: get_perpendicular
.. autofunction:: get_closest_point_on_epipolar_line


Metrics
-------

.. autofunction:: sampson_epipolar_distance
.. autofunction:: symmetrical_epipolar_distance
.. autofunction:: left_to_right_epipolar_distance
.. autofunction:: right_to_left_epipolar_distance

Projection
----------

.. autofunction:: projection_from_KRt
.. autofunction:: projections_from_fundamental
.. autofunction:: intrinsics_like
.. autofunction:: scale_intrinsics
.. autofunction:: random_intrinsics

Numeric
-------

.. autofunction:: cross_product_matrix


Triangulation
-------------

.. autofunction:: triangulate_points