Collinearity

A set of exercises that explores the Collinearity condition; two fundamental equations, used in photogrammetry, to relate coordinates in a 2D sensor plane to 3D object coordinates.

Fig.1 - Downsampled 3D point-cloud harvested via stereo-vision

The exercise traverses its use from single photo resection to space intersection and aims to highlight the foundational aspect of the concept (and its application in 3D scene reconstruction).

A very brief introduction to the Computer Vision concepts of Feature Matching, Disparity and Structure-from-Motion (SfM) are included to familiarize the user with the language (technical terms / jargon) and its similarities with traditional Photogrammetry.