cv-xueba / total3dexercises Goto Github PK

Q1:
First, we need to solve Pm=0.
You have composed P first, the first row is [ 8.000e+00 0.000e+00 9.000e+00 1.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00 0.000e+00]. Why the last 4 elements are zero? Should it be -uiPi.T()? Pi is [8,0,9, 1] and (ui, vi) are [275, 142]. So why it is not 275*(8,0,9,1)?
Solved: The result in the notebook is not the same as the result in its real run output.

Q2: while solving Rotation, why can't we just use R=p*K.inv()A? Is it more convinient?

Q3: The projection from P(8, 0, 9, 1) to p(275, 142) with K[R | t]? From your code, I think the two points P and p are correspondent point pair. Hence, in the last of re-projection check, p should be close to K[R | t] P, I computed K[R | t] which is (953.321, 141.942, 1. ). Compare to (275, 142), the x-coodinate in pixel is not close to each other.
Partially Solved: I have only used 6 pairs to solve the equation which leads to the problem. If all the matches are used in solving it, it won't produce the problem.