Fig. 3
From: MicMac – a free, open-source solution for photogrammetry
Three restitution geometries in MicMac. a ground, euclidean space, b image geometry discretised along the ray, no resampling c image space resampled to epipolar geometry. For a range of the potential Z-coordinates/depths/disparities the similarity measure is computed and further passed to the energy minimization solver
