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