opensfm/reconstruction.py [933:947]:
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        self,
        track: str,
        reproj_threshold: float,
        min_ray_angle_degrees: float,
        iterations: int,
    ) -> None:
        """Triangulate track in a RANSAC way and add point to reconstruction."""
        os, bs, ids = [], [], []
        for shot_id, obs in self.tracks_handler.get_observations(track).items():
            shot = self.reconstruction.shots[shot_id]
            os.append(self._shot_origin(shot))
            b = shot.camera.pixel_bearing(np.array(obs.point))
            r = self._shot_rotation_inverse(shot)
            bs.append(r.dot(b))
            ids.append(shot_id)
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opensfm/reconstruction.py [1029:1043]:
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        self,
        track: str,
        reproj_threshold: float,
        min_ray_angle_degrees: float,
        iterations: int,
    ) -> None:
        """Triangulate track and add point to reconstruction."""
        os, bs, ids = [], [], []
        for shot_id, obs in self.tracks_handler.get_observations(track).items():
            shot = self.reconstruction.shots[shot_id]
            os.append(self._shot_origin(shot))
            b = shot.camera.pixel_bearing(np.array(obs.point))
            r = self._shot_rotation_inverse(shot)
            bs.append(r.dot(b))
            ids.append(shot_id)
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