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Recipe 578170 revision 2 

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):
        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,ti]*b[k,3] - a[j,3]*b[k,ti]
    return T

Diff to Previous Revision

--- revision 1 2012-06-21 07:33:51
+++ revision 2 2012-06-23 05:23:22
@@ -3,10 +3,9 @@
     '''
     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]
+                        T[ti,tj,tk] += a[j,ti]*b[k,3] - a[j,3]*b[k,ti]
     return T

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