You need to complete the following steps:
- Import the necessary modules.
import cv2import numpy as np
- Generate the test camera's projection matrices:
P1 = np.eye(3, 4, dtype=np.float32)P2 = np.eye(3, 4, dtype=np.float32)P2[0, 3] = -1
- Generate the test points:
N = 5points3d = np.empty((4, N), np.float32)points3d[:3, :] = np.random.randn(3, N)points3d[3, :] = 1
- Project the 3D points into two views and add noise:
points1 = P1 @ points3dpoints1 = points1[:2, :] / points1[2, :]points1[:2, :] += np.random.randn(2, N) * 1e-2points2 = P2 @ points3dpoints2 = points2[:2, :] / points2[2, :]points2[:2, :] += np.random.randn(2, N) * 1e-2
- Reconstruct the points from noisy observations:
points3d_reconstr = cv2.triangulatePoints(P1, ...