Class Summary Class Description PixelDepthLinearMetricComputes the depth (value of z-axis in frame A) for a single point feature given N observations and N-1 rigid camera transforms. ResidualsTriangulateEpipolarSampsonSampson first-order to geometric triangulation error. ResidualsTriangulateMetricSimpleBasic error function for triangulation which only computes the residual between predicted and actual observed point location. ResidualsTriangulateProjectiveResiduals for a projective triangulation where the difference between predicted and observed pixels are minimized. Triangulate2ViewReprojectionMetricErrorComputes reprojection error after triangulation for calibrated images Triangulate2ViewsGeometricMetricTriangulates two views by finding the point which minimizes the distance between two rays. TriangulateMetricLinearDLTTriangulates the location of a 3D point given two or more views of the point using the Discrete Linear Transform (DLT). TriangulateProjectiveLinearDLTTriangulates the location of a 3D point given two or more views of the point using the Discrete Linear Transform (DLT).