tfg.geometry.representation.ray.triangulate

Triangulates 3d points by miminizing the sum of squared distances to rays.

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.

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".

A tensor of triangulated points with shape [A1, ..., An, 3].

ValueError If the shape of the arguments is not supported.