Recipe 578170 revision 1

def tensor(a,b):
    '''Returns the 3x3x3 (27 element) trifocal tensor given two 3x4 camera matrices.
    '''
    T = zeros((3,3,3))
    for ti in range(3):
        i = ti
        for tj in range(3):
            for tk in range(3):
                for j in range(tj+1):
                    for k in range(tk+1):
                        T[ti,tj,tk] += a[j,i]*b[k,3] - a[j,3]*b[k,i]
    return T

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History

• revision 4 (11 years ago)
• revision 3 (11 years ago)
• revision 2 (11 years ago)
• revision 1 (11 years ago)