geom3 Combined 2D geometry and stereo matches for the underlying edge strings to
obtain 3D line sections. The fitting of disparity to lines is performed in the rectified
coordinates. That is edges must be rectified prior to both stereo and geom2 (the
actual order of stereo and geom2 is unimportant). The 3D geometry is with
respect to the cyclopean frame of the left camera geometry.
Geom3 parameters :
3D fit thres Threshold on deviation from 3D primitive in
disparity space (pixels).