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proposed fix for issue 10 #11

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proposed fix for issue 10 #11

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7 changes: 6 additions & 1 deletion pymvg/multi_camera_system.py
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Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,11 @@ def to_dict(self):

def find3d(self,pts,undistort=True):
"""Find 3D coordinate using all data given

In:
pts: list(tuple(name, xy)), where xy is np.array([[x, y]]) is
the list of pixel coordinates to triangulate
undistort: bool, if True use pymvg _undistort

Implements a linear triangulation method to find a 3D
point. For example, see Hartley & Zisserman section 12.2
Expand All @@ -212,7 +217,7 @@ def find3d(self,pts,undistort=True):
for name,xy in pts:
cam = self._cameras[name]
if undistort:
xy = cam.undistort( [xy] )
xy = cam.undistort(xy)
Pmat = cam.get_M() # Pmat is 3 rows x 4 columns
row2 = Pmat[2,:]
x,y = xy[0,:]
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