Methods, storage media, and systems for generating a three-dimensional coordinate system

A method for generating a three-dimensional coordinate system, the method comprising:

• receiving a first image and an associated first camera pose comprising a first camera location and a first camera orientation, wherein the first image and the first camera pose are associated with a capture coordinate system;
• receiving a second image and an associated second camera pose comprising a second camera location and a second camera orientation, wherein the second image and the second camera pose are associated with the capture coordinate system;
• receiving a first point in the first image;
• receiving a second point in the second image, wherein the second point corresponds to the first point;
• receiving a first two-dimensional (2d) line segment in the first image, wherein a first end point of the first 2d line segment is the first point, and wherein the first 2d line segment is colinear with the first point;
• generating an origin for a first three-dimensional (3d) coordinate system based on the first camera pose, the second camera pose, the first point, the second point, and the first 2d line segment by projecting the first point and second point onto a first ground plane, projecting the first camera location and second camera location onto the first ground plane and setting the origin at an intersection of a first line connecting the projected first camera location and projected first point and a second line connecting the projected second camera location and projected second point;
• and
• generating a 3d line segment based on the first 3d coordinate system and the first 2d line segment.