Structure from Motion

Shiyu Mou

[email protected]

Results

Note that only the matrices of second camera are shown as the world coordinate is aligned with the first camera.

0-1:

Test Ratio: 0.9
R: 
[[ 9.97739563e-01  2.13911874e-03  6.71653870e-02]
 [-8.59177937e-04  9.99817598e-01 -1.90796599e-02]
 [-6.71939495e-02  1.89788245e-02  9.97559410e-01]]
t:
[[-0.97755596]
 [ 0.0382311 ]
 [ 0.20717803]]
Projection Matrix:
 [[ 1.33522862e+03  1.75801346e+01  8.61112256e+02 -1.19943644e+03]
 [-3.48311258e+01  1.39601853e+03  4.72954065e+02  1.56738317e+02]
 [-6.71939495e-02  1.89788245e-02  9.97559410e-01  2.07178030e-01]]

Inner match

0-2:

Test Ratio: 0.8
R: 
[[ 0.9972597   0.00653782  0.07369092]
 [-0.00562026  0.99990417 -0.01265196]
 [-0.07376657  0.01220312  0.99720087]]
t: 
[[-0.99890188]
 [ 0.04277542]
 [ 0.01911292]]
Projection Matrix: 
 [[ 1.32950311e+03  1.84799536e+01  8.69907360e+02 -1.37384869e+03]
 [-4.47241380e+01  1.39274643e+03  4.81688315e+02  6.88882675e+01]
 [-7.37665745e-02  1.22031233e-02  9.97200871e-01  1.91129238e-02]]

Inner

1-2:

Test Ratio: 0.7
R: 
[[ 0.9998798   0.00384662  0.01501975]
 [-0.00393659  0.99997446  0.00596526]
 [-0.01499642 -0.00602367  0.9998694 ]]
t: 
[[-0.99675237]
 [ 0.06185202]
 [-0.05156591]]
Projection Matrix: 
 [[ 1.37837625e+03  7.11161200e-01  7.90403224e+02 -1.42525689e+03]
 [-1.29668858e+01  1.38371894e+03  5.08842079e+02  5.99588197e+01]
 [-1.49964248e-02 -6.02367457e-03  9.99869403e-01 -5.15659128e-02]]

Inner