CorrectTimestepPoints

This function does optimal correction of the points in the images according to the matrices of the cameras. If the world was perfect and there was no noise, there would be no need for this step as the epipolar lines from the matching points of each camera’s image would intersect in 3d space. However, since there is noise they don’t always intersect. This function adjusts the camera pixels in such a way that the minimum amount of pixel movement in order to get the epipolar lines to intersect is achieved.

double CorrectTimestepPoints(const std::vector<cv::Mat> & iCamProj, const std::vector<cv::Mat> & iPoints, const std::pair<int, std::set<int>> & iCamIndexesToExclude, std::vector<cv::Mat> & oPoints)

double CorrectTimestepPoints(const std::vector<cv::Mat> & iCamProj, const std::vector<cv::Mat> & iPoints, std::vector<cv::Mat> & oPoints)

1. __MISSING__
   Parameters:
   • const std::vector<cv::Mat> & iCamProj
   • const std::vector<cv::Mat> & iPoints
   • const std::pair<int, std::set<int>> & iCamIndexesToExclude
   • std::vector<cv::Mat> & oPoints
2. __MISSING__
   Parameters:
   • const std::vector<cv::Mat> & iCamProj
   • const std::vector<cv::Mat> & iPoints
   • std::vector<cv::Mat> & oPoints