Task03 Василий Можаев СПбГУ by mozhaa · Pull Request #45 · PhotogrammetryCourse/PhotogrammetryTasks2026

mozhaa · 2026-03-19T11:12:52Z

Мы можем получить облако точек и взаимную ориентацию по двум камерам. Почему для выравнивания трёх камер мы использовали резекцию, а не посчитали E матрицу для второй пары камер и не разложили ее?

Резекция использует уже триангулированные трёхмерные точки (полученные из первых двух камер) и их проекции на третьем изображении для определения её внешних параметров. E‑матрица требует калиброванных точек и даёт лишь относительное положение между второй и третьей камерами, но чтобы привязать его к общей системе координат, нужно дополнительно согласовывать масштаб

Как реализовать выравнивание если мы все же хотим использовать Е матрицу?

Находим Е-матрицу для 2-й и 3-й камеры, а потом зная положение второй камеры в мировой системе (из первого разложения), выражаем положение третьей как комбинацию преобразований: мировая система -> вторая камера -> третья камера. Только еще придется быть аккуратным с масштабом для 3-й камеры, который можно получить по каким-то общим точкам 2-й и 3-й камеры

Github Actions CI

[==========] Running 9 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 9 tests from SFM
[ RUN      ] SFM.EpipolarDist
[       OK ] SFM.EpipolarDist (0 ms)
[ RUN      ] SFM.FmatrixSimple
estimateFMatrixRANSAC : support: 8/8
F info:
F:
-0.000567465  -0.00132748     0.111833
  0.00124919 -0.000768045    -0.093948
 0.000600298     0.105131     -4.39732
U:
 0.0254107   0.407228  -0.912973
-0.0213368  -0.912839  -0.407762
 -0.999449  0.0298414  -0.014507
s:
      4.401
 0.00356558
1.45069e-19
V:
-0.000145658    -0.379596     0.925152
  -0.0238787      0.92489     0.379485
    0.999715    0.0220362     0.009199
estimateFMatrixRANSAC : best support: 8/8
checkFmatrixSpectralProperty: s:       4.401  0.00356558 1.45069e-19
checkFmatrixSpectralProperty: s:     1.12307    0.112607 3.18992e-19
[       OK ] SFM.FmatrixSimple (4 ms)
[ RUN      ] SFM.EmatrixSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 6/8
F info:
F:
-2.87182e-05  4.57251e-05  -0.00433663
-1.79912e-05  9.37473e-05   -0.0117077
   0.0098372    -0.016166      1.55497
U:
 -0.0027888   -0.022904    0.999734
-0.00752856     0.99971   0.0228825
   0.999968  0.00746274  0.00296042
s:
    1.55514
 6.2675e-05
1.16941e-20
V:
0.00632554   0.894843   0.446337
-0.0103954  -0.446263   0.894842
  0.999926 -0.0103002 0.00647939
estimateFMatrixRANSAC : best support: 6/8
checkEmatrixSpectralProperty: s:     15.9721     15.9721 8.03669e-17
[       OK ] SFM.EmatrixSimple (3217 ms)
[ RUN      ] SFM.EmatrixDecomposeSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 6/8
F info:
F:
-2.87182e-05  4.57251e-05  -0.00433663
-1.79912e-05  9.37473e-05   -0.0117077
   0.0098372    -0.016166      1.55497
U:
 -0.0027888   -0.022904    0.999734
-0.00752856     0.99971   0.0228825
   0.999968  0.00746274  0.00296042
s:
    1.55514
 6.2675e-05
1.16941e-20
V:
0.00632554   0.894843   0.446337
-0.0103954  -0.446263   0.894842
  0.999926 -0.0103002 0.00647939
estimateFMatrixRANSAC : best support: 6/8
U:
 0.321567 -0.900047  0.294125
 0.940504  0.267594 -0.209395
  0.10976   0.34396  0.932547
s:
    15.9721
    15.9721
8.03669e-17
V:
 0.0935745  -0.971721   0.216801
 -0.993991  -0.103601 -0.0353273
 0.0567891  -0.212193  -0.975576
R0:
 0.292019  0.917563  -0.26982
  0.89355 -0.161151  0.419045
 0.341019 -0.363467 -0.866948
R1:
 -0.164485  -0.938344  -0.304063
 -0.984344   0.175946 -0.0104835
 0.0633358   0.297578  -0.952594
t0:
 0.294125
-0.209395
 0.932547
decomposeEMatrix: count: 5
decomposeEMatrix: count: 0
decomposeEMatrix: count: 3
decomposeEMatrix: count: 0
best idx: 0
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.2920187464820062, 0.9175631896513016, -0.2698200227929861, 0.2941249861005661;
 0.8935497865463001, -0.1611512404208633, 0.419045411231144, -0.2093951243656267;
 0.3410188127745144, -0.363466739479346, -0.8669475754773835, 0.9325471432819066]
E: 
[-13.55277900288131, 3.39146124825107, -3.134628507143554;
 2.576959744579317, 14.42001851100101, 0.05050058935186059;
 4.853174206421616, 2.168220761309014, 1]
E1: 
[-13.55277900288132, 3.39146124825107, -3.134628507143554;
 2.57695974457932, 14.42001851100101, 0.05050058935186173;
 4.853174206421617, 2.168220761309015, 1]
E2: 
[-13.55277900288132, 3.39146124825107, -3.134628507143554;
 2.57695974457932, 14.42001851100101, 0.05050058935186173;
 4.853174206421617, 2.168220761309015, 1]
RMS1: 1.87038e-15
RMS2: 1.87038e-15
RMS3: 0
[       OK ] SFM.EmatrixDecomposeSimple (3216 ms)
[ RUN      ] SFM.TriangulationSimple
P1:
[0.7071067811865476, 0, 0.7071067811865475, -1.414213562373095;
 0, 1, 0, 0;
 -0.7071067811865475, 0, 0.7071067811865476, 1.414213562373095]
x2:
[0, 0, 2]
x3:
[-2.22045e-16, 0, 2.82843]
X1:
[-5.55112e-17, 6.25241e-17, 0.894427, 0.447214]
|X - X1| = 9.07642e-16
[       OK ] SFM.TriangulationSimple (0 ms)
[ RUN      ] SFM.FmatrixMatchFiltering
detecting points...
matching points...
filtering matches GMS...
Get total 4728 matches.
filtering matches F...
estimateFMatrixRANSAC : support: 79/16740
F info:
F:
 2.32862e-06  3.43781e-07  -0.00310771
 3.84854e-06 -1.33636e-06  -0.00164765
 -0.00815801   0.00177468      5.43072
U:
-0.000572245    -0.862398    -0.506231
-0.000303394     0.506231    -0.862398
           1 -0.000339916 -0.000551335
s:
    5.43073
3.13774e-06
 4.7993e-22
V:
-0.00150219    0.864667    0.502344
0.000326784   -0.502344    0.864668
   0.999999  0.00146306 0.000472059
estimateFMatrixRANSAC : support: 98/16740
F info:
F:
-5.11425e-06  2.10109e-06 -5.42852e-06
  1.3441e-06 -6.14189e-07  7.73203e-05
  0.00240485 -0.000669245    -0.387669
U:
-1.39112e-05    -0.942597    -0.333933
 0.000199417     0.333933    -0.942597
          -1  7.97045e-05 -0.000183324
s:
   0.387677
5.90244e-06
8.43827e-23
V:
-0.00620325    0.925243    0.379324
  0.0017263   -0.379321    0.925264
   0.999979  0.00639446 0.000755775
estimateFMatrixRANSAC : support: 182/16740
F info:
F:
-2.67701e-07  3.96546e-06  -0.00654209
-2.68008e-06 -1.08379e-06   0.00315569
  0.00466001  -0.00038099     -1.67356
U:
 -0.00390903    -0.949511    -0.313709
  0.00188559     0.313703    -0.949519
   -0.999991   0.00430322 -0.000564113
s:
    1.67358
2.02965e-05
4.27714e-22
V:
-0.00278443    0.959104    0.283039
0.000227637    -0.28304    0.959108
   0.999996    0.002735 0.000569777
estimateFMatrixRANSAC : support: 754/16740
F info:
F:
-1.31886e-06 -2.13458e-06   0.00250434
 3.50251e-06 -3.42565e-08  -0.00194697
 -0.00319579   0.00155225     0.521978
U:
 0.00479747   -0.857225     0.51492
-0.00372978    0.514907    0.857238
   0.999982  0.00603311 0.000727011
s:
      0.522
1.98028e-05
1.31239e-21
V:
-0.00612212   -0.825463    0.564423
 0.00297358    0.564416    0.825485
   0.999977 -0.00673208  0.00100085
estimateFMatrixRANSAC : support: 978/16740
F info:
F:
 9.40818e-09 -1.57076e-07  0.000231715
  2.2191e-07  1.58715e-07   0.00137389
-0.000242406  -0.00192013     0.349002
U:
0.000663913    0.143338   -0.989674
 0.00393647    0.989666    0.143339
   0.999992 -0.00399098 9.28085e-05
s:
    0.34901
7.88793e-06
1.28469e-21
V:
-0.000694544     0.150661     0.988585
  -0.0055016      0.98857    -0.150662
    0.999985   0.00554344 -0.000142271
estimateFMatrixRANSAC : support: 1230/16740
F info:
F:
-1.01707e-07  2.89413e-06  -0.00533402
-2.89877e-06 -2.24193e-07   0.00238229
  0.00556647  -0.00191128    -0.202886
U:
 -0.0262576   -0.919453    0.392323
  0.0117277    0.392148    0.919827
  -0.999586   0.0287535 0.000486174
s:
   0.203055
 0.00016923
4.13059e-21
V:
 -0.0274024    0.939622    0.341115
 0.00940834   -0.340985    0.940021
    0.99958   0.0289682 0.000503533
estimateFMatrixRANSAC : support: 2536/16740
F info:
F:
-1.05599e-08 -4.29074e-07  0.000567024
  2.5973e-07  1.66446e-08  -0.00197581
-0.000295043   0.00207873    -0.138652
U:
 0.00408822    0.263018    0.964782
 -0.0142453   -0.964677     0.26305
   -0.99989    0.014819 0.000197036
s:
   0.138683
3.10262e-05
 8.5941e-22
V:
 0.00212721   -0.149087    0.988822
 -0.0149875    0.988708    0.149102
   0.999885   0.0151371 0.000131242
estimateFMatrixRANSAC : support: 2788/16740
F info:
F:
 1.71701e-08  6.64349e-08  9.93767e-05
-2.38362e-07  8.01715e-08  -0.00175874
 0.000104957   0.00156291      0.16993
U:
0.000584732  -0.0520652   -0.998644
 -0.0103483     0.99859  -0.0520684
   0.999946   0.0103647 4.51203e-05
s:
   0.169946
1.62986e-05
1.28102e-23
V:
  0.00061757    0.0520862     0.998642
  0.00919601       0.9986   -0.0520897
    0.999958   -0.0092157 -0.000137721
estimateFMatrixRANSAC : support: 3500/16740
F info:
F:
 1.59646e-09 -1.94789e-07  0.000303451
-1.11501e-08  3.74379e-08  -0.00183455
 1.92022e-06   0.00186857   -0.0877388
U:
  0.00345628     0.158509    -0.987352
  -0.0208951     -0.98713    -0.158546
   -0.999776    0.0211788 -9.97497e-05
s:
  0.0877784
3.95152e-05
3.73002e-23
V:
-2.18681e-05   0.00131411     0.999999
  -0.0212826     0.999773  -0.00131428
    0.999773    0.0212826 -6.10465e-06
estimateFMatrixRANSAC : support: 4421/16740
F info:
F:
-1.78784e-09  7.88812e-08 -0.000127046
 7.11264e-08 -3.23321e-09   0.00173637
-7.55587e-05  -0.00184264      0.10927
U:
 -0.00116221   -0.0702972    -0.997525
   0.0158841     0.997399   -0.0703068
    0.999873   -0.0159265 -4.25795e-05
s:
   0.109299
2.93699e-05
2.94496e-22
V:
-0.000691202    0.0433932     0.999058
  -0.0168565     0.998916   -0.0433987
    0.999858    0.0168706 -4.10049e-05
estimateFMatrixRANSAC : best support: 4421/16740
estimateFMatrixRANSAC : support: 1609/4728
F info:
F:
-1.31399e-07  2.15689e-06  -0.00422275
 -2.0671e-06 -5.41334e-07   0.00393651
  0.00439426  -0.00222901     -1.46928
U:
-0.00287396   -0.795918    0.605398
 0.00267915    0.605392    0.795923
  -0.999992  0.00390941 0.000392512
s:
     1.4693
1.93075e-05
 4.9535e-22
V:
-0.00299069    0.830358    0.557223
 0.00151704   -0.557221    0.830363
   0.999994  0.00332869 0.000406792
estimateFMatrixRANSAC : support: 2411/4728
F info:
F:
-3.01412e-08  6.03608e-07  -0.00114227
-5.27256e-07 -1.36741e-07    0.0027052
  0.00115844  -0.00231856    -0.388387
U:
-0.00294082   -0.414713    0.909948
  0.0069647    0.909921    0.414723
  -0.999971  0.00755714 0.000212435
s:
   0.388407
1.97225e-05
1.10474e-21
V:
-0.00298245    0.420191    0.907431
 0.00596922   -0.907411    0.420201
   0.999978  0.00666988 0.000198103
estimateFMatrixRANSAC : support: 3230/4728
F info:
F:
-3.78218e-09 -2.50221e-08 -6.15078e-06
  -1.636e-07 -5.54765e-08  -0.00195573
 0.000276333   0.00229695    -0.321992
U:
-1.91004e-05   -0.0049189     0.999988
  -0.0060734    -0.999969  -0.00491892
   -0.999982   0.00607342  1.07747e-05
s:
   0.322007
1.41269e-05
1.11222e-22
V:
 -0.00085814     0.130382     0.991463
 -0.00713311     0.991438    -0.130385
    0.999974    0.0071841 -7.92392e-05
estimateFMatrixRANSAC : support: 3749/4728
F info:
F:
 -2.2367e-09  7.78793e-08 -0.000129889
 1.08547e-07  9.09984e-09   0.00207244
-0.000121746  -0.00225015     0.177128
U:
-0.000733143   -0.0595851    -0.998223
   0.0116976     0.998154   -0.0595896
    0.999931   -0.0117205 -3.47901e-05
s:
   0.177154
2.64241e-05
1.38539e-22
V:
-0.000687176    0.0581061      0.99831
  -0.0127008     0.998229   -0.0581102
    0.999919    0.0127192 -5.20329e-05
estimateFMatrixRANSAC : support: 4074/4728
F info:
F:
 2.72611e-09 -8.79133e-08  0.000149714
-1.10849e-07  -7.0801e-10   -0.0020864
 0.000124516    0.0022406    -0.162936
U:
 0.000918612    0.0685238    -0.997649
  -0.0128016    -0.997567   -0.0685299
   -0.999918    0.0128344 -3.91659e-05
s:
   0.162965
2.88049e-05
 3.9566e-25
V:
-0.000763998    0.0593253     0.998238
  -0.0137478     0.998144   -0.0593302
    0.999905     0.013769 -5.30158e-05
estimateFMatrixRANSAC : support: 4116/4728
F info:
F:
-2.37332e-09  9.32663e-08 -0.000152677
 1.02211e-07 -2.74302e-09   0.00209684
-0.000114554  -0.00223946     0.151989
U:
-0.00100422  -0.0696235    0.997573
  0.0137917    0.997477   0.0696307
   0.999904  -0.0138282 4.14605e-05
s:
    0.15202
3.10076e-05
2.66332e-22
V:
-0.000753466      0.05438      0.99852
  -0.0147299     0.998411   -0.0543852
    0.999891    0.0147491 -4.87442e-05
estimateFMatrixRANSAC : support: 4131/4728
F info:
F:
-2.66348e-09  6.94892e-08 -0.000124208
 1.13793e-07  1.70453e-09   0.00208324
 -0.00012396  -0.00222996     0.148362
U:
-0.000836924   -0.0572996     0.998357
    0.014037     0.998258    0.0573057
    0.999901   -0.0140619  3.11543e-05
s:
   0.148394
3.14135e-05
7.72095e-25
V:
-0.000835248    0.0591098     0.998251
  -0.0150258     0.998138   -0.0591157
    0.999887    0.0150489 -5.44792e-05
estimateFMatrixRANSAC : support: 4151/4728
F info:
F:
 2.36096e-09 -8.35307e-08  0.000139263
-1.02455e-07  2.00377e-09  -0.00209524
 0.000112104    0.0022347    -0.145174
U:
 0.000958962    0.0637434    -0.997966
  -0.0144276    -0.997862   -0.0637506
   -0.999895    0.0144594 -3.72457e-05
s:
   0.145207
3.23549e-05
6.80635e-26
V:
-0.000771936    0.0532636      0.99858
  -0.0153882     0.998462   -0.0532692
    0.999881    0.0154074 -4.88803e-05
estimateFMatrixRANSAC : support: 4152/4728
F info:
F:
-2.62638e-09  8.24098e-08 -0.000140452
 1.04123e-07 -1.32814e-09   0.00209327
-0.000111085  -0.00223473     0.146124
U:
-0.000960866   -0.0643842     0.997925
   0.0143205     0.997822    0.0643914
    0.999897   -0.0143526   3.6762e-05
s:
   0.146156
3.21164e-05
4.91204e-24
V:
-0.000759955    0.0528836       0.9986
  -0.0152884     0.998483    -0.052889
    0.999883    0.0153072 -4.97058e-05
estimateFMatrixRANSAC : support: 4153/4728
F info:
F:
-2.69463e-09  7.61658e-08 -0.000131895
 1.07808e-07  6.90408e-10   0.00208806
-0.000113069  -0.00223343     0.145944
U:
 -0.00090344   -0.0606627    -0.998158
   0.0143025     0.998055   -0.0606694
    0.999897   -0.0143309 -3.40585e-05
s:
   0.145976
3.20536e-05
4.82952e-24
V:
-0.000774481    0.0539142     0.998545
  -0.0152984     0.998428   -0.0539197
    0.999883    0.0153179 -5.15376e-05
estimateFMatrixRANSAC : support: 4154/4728
F info:
F:
 2.42326e-09 -8.37159e-08  0.000140433
-9.97042e-08  2.24995e-09  -0.00209731
 0.000106946   0.00223458    -0.142384
U:
0.000985956   0.0642788    0.997931
 -0.0147247   -0.997823   0.0642864
  -0.999891   0.0147576 3.73215e-05
s:
   0.142417
3.30163e-05
2.49147e-23
V:
-0.000750839    0.0508206     0.998708
  -0.0156887     0.998584   -0.0508261
    0.999877    0.0157066 -4.75321e-05
estimateFMatrixRANSAC : best support: 4154/4728
n matches gms: 4728
n matches F: 4421
n matches gms + F: 4154
[       OK ] SFM.FmatrixMatchFiltering (59005 ms)
[ RUN      ] SFM.RelativePosition2View
detecting points...
matching points...
filtering matches GMS...
Get total 4748 matches.
estimateFMatrixRANSAC : support: 3637/4748
F info:
F:
 2.83404e-09 -5.66109e-08  0.000107676
-1.69288e-07 -2.36714e-08  -0.00211581
 0.000216172   0.00236334    -0.255396
U:
0.000421556    0.047885    0.998853
-0.00828344   -0.998818   0.0478868
  -0.999966  0.00829412 2.44059e-05
s:
   0.255416
1.97215e-05
3.95651e-24
V:
 -0.00084632    0.0994947     0.995038
 -0.00925259     0.994995   -0.0994983
    0.999957   0.00929089 -7.85006e-05
estimateFMatrixRANSAC : support: 3898/4748
F info:
F:
-2.74828e-09  1.11402e-07 -0.000182979
 8.70118e-08   -5.584e-09    0.0022173
-8.83228e-05  -0.00235275     0.144171
U:
 -0.0012687  -0.0791969    0.996858
  0.0153738     0.99674   0.0792071
   0.999881  -0.0154259 4.70129e-05
s:
   0.144207
3.63127e-05
3.27363e-22
V:
 -0.00061239    0.0399146     0.999203
  -0.0163131      0.99907   -0.0399193
    0.999867    0.0163245 -3.93115e-05
estimateFMatrixRANSAC : support: 3976/4748
F info:
F:
-2.34353e-09  1.02376e-07 -0.000163509
 9.14915e-08 -7.21037e-09     0.002216
-9.58435e-05  -0.00234523     0.136259
U:
 -0.00119949   -0.0709257    -0.997481
   0.0162562     0.997348   -0.0709359
    0.999867   -0.0163003 -4.33247e-05
s:
   0.136297
3.82549e-05
8.62474e-22
V:
-0.000703092    0.0432283     0.999065
  -0.0172045     0.998917    -0.043234
    0.999852    0.0172188 -4.13889e-05
estimateFMatrixRANSAC : support: 4032/4748
F info:
F:
-2.65097e-09  9.42465e-08 -0.000157283
 1.14551e-07 -9.57005e-10   0.00219132
-0.000130149  -0.00234901     0.168321
U:
-0.000934166   -0.0685277    -0.997649
    0.013015     0.997564   -0.0685341
    0.999915   -0.0130485 -3.99995e-05
s:
   0.168352
3.07001e-05
2.32224e-24
V:
   -0.000773    0.0590451     0.998255
  -0.0139518     0.998158   -0.0590502
    0.999902    0.0139731 -5.22092e-05
estimateFMatrixRANSAC : support: 4095/4748
F info:
F:
-2.77904e-09  7.91613e-08 -0.000136895
 1.14187e-07  7.17693e-10   0.00218946
-0.000120978  -0.00234116     0.151671
U:
-0.000902276   -0.0600654     0.998194
   0.0144306      0.99809    0.0600722
    0.999895   -0.0144588  3.37703e-05
s:
   0.151705
3.39015e-05
1.97565e-24
V:
-0.000797361    0.0549629     0.998488
  -0.0154307     0.998369   -0.0549687
    0.999881    0.0154512 -5.20563e-05
estimateFMatrixRANSAC : support: 4096/4748
F info:
F:
 2.21253e-09 -1.04078e-07  0.000165848
-9.96871e-08  4.10582e-09  -0.00220506
 0.000112635   0.00235187     -0.15784
U:
  0.00105041    0.0718599    -0.997414
  -0.0139658    -0.997316   -0.0718675
   -0.999902    0.0140052 -4.40134e-05
s:
   0.157873
3.29731e-05
3.19467e-22
V:
-0.000713376    0.0508612     0.998705
  -0.0148958     0.998594   -0.0508662
    0.999889    0.0149128 -4.52445e-05
estimateFMatrixRANSAC : support: 4097/4748
F info:
F:
-2.01598e-09  9.81653e-08 -0.000156413
 9.71711e-08 -6.50098e-09   0.00220913
-0.000110156  -0.00234573     0.150035
U:
-0.00104216  -0.0678093    0.997698
  0.0147189    0.997589   0.0678173
   0.999891  -0.0147557 4.15641e-05
s:
   0.150069
 3.4647e-05
3.43082e-21
V:
-0.000733946    0.0497159     0.998763
  -0.0156293     0.998641   -0.0497213
    0.999878    0.0156465  -4.4078e-05
estimateFMatrixRANSAC : support: 4098/4748
F info:
F:
 2.54956e-09 -8.58318e-08  0.000145136
-1.07704e-07  -1.0954e-09  -0.00219273
 0.000117384   0.00234681    -0.157231
U:
 0.000922787    0.0634304    -0.997986
  -0.0139414    -0.997888   -0.0634371
   -0.999902    0.0139719 -3.65297e-05
s:
   0.157264
3.28352e-05
5.86706e-24
V:
-0.000746332    0.0532269     0.998582
  -0.0149213     0.998471   -0.0532321
    0.999888    0.0149398 -4.90225e-05
estimateFMatrixRANSAC : support: 4099/4748
F info:
F:
 2.23471e-09 -8.35094e-08  0.000136639
-1.01333e-07  1.75906e-09  -0.00220035
  0.00010743   0.00234205    -0.141571
U:
0.000964786   0.0596929    0.998216
 -0.0155362   -0.998095   0.0597006
  -0.999879   0.0155661 3.55482e-05
s:
   0.141608
3.64979e-05
5.24642e-23
V:
-0.000758545    0.0485931     0.998818
   -0.016537     0.998681    -0.048599
    0.999863    0.0165543 -4.60378e-05
estimateFMatrixRANSAC : support: 4100/4748
F info:
F:
 2.45145e-09 -8.00608e-08  0.000134844
-1.08416e-07 -1.34915e-09  -0.00219241
 0.000115957   0.00234283    -0.147882
U:
0.000911518   0.0590872    0.998252
 -0.0148201   -0.998142   0.0590942
   -0.99989   0.0148481 3.41469e-05
s:
   0.147916
3.48357e-05
1.41086e-23
V:
-0.000783836     0.052535     0.998619
  -0.0158372     0.998493   -0.0525408
    0.999874    0.0158565 -4.93497e-05
estimateFMatrixRANSAC : support: 4101/4748
F info:
F:
-2.16478e-09  8.70598e-08 -0.000140705
 1.00647e-07 -1.86829e-09   0.00220128
-0.000108526  -0.00234391     0.143227
U:
-0.000982021   -0.0613824     0.998114
   0.0153632     0.997996    0.0613902
    0.999881   -0.0153945   3.7024e-05
s:
   0.143263
3.61244e-05
1.26359e-22
V:
-0.000757427    0.0490328     0.998797
  -0.0163589     0.998663   -0.0490386
    0.999866    0.0163764 -4.57088e-05
estimateFMatrixRANSAC : best support: 4101/4748
U:
 0.0235691   -0.11443  -0.993152
 -0.999573 -0.0198471 -0.0214347
-0.0172584   0.993233  -0.114849
s:
    6.96344
    6.96344
2.45179e-17
V:
   -0.133128   -0.0022694    -0.991096
   0.0233003    -0.999728 -0.000840639
   -0.990825   -0.0232048     0.133145
R0:
   0.999596   0.0217313  -0.0183061
  0.0216176   -0.999746 -0.00638382
 -0.0184402  0.00598551   -0.999812
R1:
   0.969021  -0.0200615    -0.24616
    0.02087    0.999782 0.000675979
   0.246093 -0.00579242    0.969229
t0:
 -0.993152
-0.0214347
 -0.114849
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 3
decomposeEMatrix: count: 4745
best idx: 3
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.9690214487920933, -0.02006150040037438, -0.2461604517028645, 0.9931516680820236;
 0.020870049483915, 0.9997819682747291, 0.0006759787337254405, 0.02143467952998796;
 0.2460932197672488, -0.005792418699928908, 0.9692288558798655, 0.1148491127494719]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9690214487920933, -0.02006150040037438, -0.2461604517028645;
 0.020870049483915, 0.9997819682747291, 0.0006759787337254405;
 0.2460932197672488, -0.005792418699928908, 0.9692288558798655]
O1: [-0.9910961990415187, -0.0008406393546091257, 0.1331450996880094]
relative_cos_vals: [0.969229, -0.133145, -0.373016]
exporting point cloud...
exporting 4752 points...
[       OK ] SFM.RelativePosition2View (16797 ms)
[ RUN      ] SFM.Resection
detecting points...
matching points...
filtering matches GMS...
Get total 4775 matches.
estimateFMatrixRANSAC : support: 168/4775
F info:
F:
-5.03679e-07  1.35053e-06 -0.000650082
-1.61289e-06 -6.78788e-07   0.00383798
  0.00217081  -0.00212086     -1.57549
U:
-0.000412617     0.355836    -0.934548
  0.00243604    -0.934545    -0.355836
   -0.999997  -0.00242342  -0.00048122
s:
     1.5755
 7.3883e-06
4.51306e-24
V:
-0.00137785   -0.532286    0.846564
 0.00134615    0.846563    0.532287
   0.999998 -0.00187301 0.000449904
estimateFMatrixRANSAC : support: 2852/4775
F info:
F:
-5.63596e-09 -2.32856e-07  0.000138247
 1.08932e-07 -7.97958e-08  -0.00216321
 5.67996e-06   0.00261481    -0.403732
U:
0.000342407   0.0469669    0.998896
-0.00535773   -0.998882    0.046968
  -0.999986   0.0053679  9.0388e-05
s:
   0.403746
1.41053e-05
1.37258e-22
V:
-1.40694e-05  -0.00557136     0.999984
 -0.00647627     0.999964   0.00557116
    0.999979   0.00647609  5.01505e-05
estimateFMatrixRANSAC : support: 4116/4775
F info:
F:
 -1.9795e-09  9.71211e-08 -0.000154826
 9.66477e-08 -2.28936e-09    0.0022098
-0.000109758  -0.00235559     0.152104
U:
-0.00101755   -0.067071    0.997748
  0.0145232    0.997642   0.0670787
   0.999894  -0.0145587  4.1072e-05
s:
   0.152139
3.43316e-05
9.11316e-23
V:
-0.000721347    0.0493564     0.998781
  -0.0154816     0.998661   -0.0493617
     0.99988    0.0154983 -4.37338e-05
estimateFMatrixRANSAC : support: 4117/4775
F info:
F:
-2.72782e-09  9.00166e-08 -0.000151704
 1.04881e-07  6.68648e-10   0.00220079
-0.000110285  -0.00235414     0.155051
U:
-0.000978096   -0.0660842     0.997814
   0.0141893     0.997713    0.0660914
    0.999899   -0.0142229  3.81727e-05
s:
   0.155085
 3.3523e-05
3.52904e-25
V:
-0.000711044    0.0499175     0.998753
  -0.0151782     0.998638   -0.0499225
    0.999885    0.0151948 -4.75814e-05
estimateFMatrixRANSAC : support: 4131/4775
F info:
F:
-2.61989e-09  8.09928e-08 -0.000138559
 1.07576e-07 -6.20299e-10   0.00220025
-0.000113202  -0.00234695      0.14815
U:
 -0.00093493   -0.0605331    -0.998166
   0.0148461     0.998055   -0.0605403
    0.999889   -0.0148755 -3.44304e-05
s:
   0.148185
3.49569e-05
1.01163e-24
V:
-0.000763826    0.0512477     0.998686
  -0.0158362      0.99856   -0.0512533
    0.999874    0.0158546 -4.88427e-05
estimateFMatrixRANSAC : support: 4134/4775
F info:
F:
 2.16565e-09 -9.12172e-08  0.000148697
-9.98352e-08  2.32453e-09  -0.00220735
 0.000110956   0.00235199    -0.150529
U:
 0.000987492    0.0645813    -0.997912
  -0.0146588    -0.997804   -0.0645888
   -0.999892     0.014692 -3.86381e-05
s:
   0.150564
3.45947e-05
4.68453e-22
V:
-0.000736845    0.0500051     0.998749
  -0.0156196     0.998627   -0.0500105
    0.999878    0.0156369 -4.52245e-05
estimateFMatrixRANSAC : support: 4135/4775
F info:
F:
-2.04998e-09  9.15673e-08 -0.000145422
 1.00923e-07  -1.7076e-09    0.0022054
-0.000111553  -0.00235346     0.151675
U:
-0.000958454   -0.0631331     0.998005
   0.0145353     0.997899    0.0631404
    0.999894   -0.0145668   3.8784e-05
s:
   0.151709
3.43225e-05
1.22771e-22
V:
-0.000735218     0.050282     0.998735
  -0.0155114     0.998614   -0.0502874
    0.999879    0.0155287  -4.5743e-05
estimateFMatrixRANSAC : support: 4136/4775
F info:
F:
 2.26571e-09 -8.51579e-08  0.000138943
 -1.0068e-07  1.32056e-09  -0.00220616
 0.000106078   0.00234853    -0.140523
U:
0.000988368   0.0605529    0.998164
 -0.0156933   -0.998041    0.060561
  -0.999876   0.0157243 3.61595e-05
s:
    0.14056
  3.697e-05
7.18712e-23
V:
-0.000754572    0.0478393     0.998855
  -0.0167062     0.998715   -0.0478452
     0.99986    0.0167232 -4.56122e-05
estimateFMatrixRANSAC : best support: 4136/4775
U:
   0.11177 -0.0233103   0.993461
 0.0169877   0.999624  0.0215436
 -0.993589  0.0144687   0.112124
s:
    6.97888
    6.97888
5.20666e-17
V:
0.000794193    0.132881    0.991132
   0.999797  -0.0200383  0.00188539
  0.0201111    0.990929    -0.13287
R0:
    0.96978  -0.0191928   -0.243226
  0.0198891    0.999802 0.000407379
    0.24317 -0.00523263     0.96997
R1:
   0.999521   0.0229389  -0.0207761
   0.022816   -0.999721 -0.00613239
  -0.020911  0.00565542   -0.999765
t0:
 0.993461
0.0215436
 0.112124
decomposeEMatrix: count: 4769
decomposeEMatrix: count: 6
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
best idx: 0
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.9697796936866336, -0.01919279575512092, -0.2432261957605757, 0.9934606620142633;
 0.01988913873745362, 0.9998021085208589, 0.000407378850821578, 0.02154364748030798;
 0.2431702446298518, -0.005232627289229309, 0.9699695107261417, 0.1121239683717375]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9697796936866336, -0.01919279575512092, -0.2432261957605757;
 0.01988913873745362, 0.9998021085208589, 0.000407378850821578;
 0.2431702446298518, -0.005232627289229309, 0.9699695107261417]
O1: [-0.9911316739093844, -0.001885393662576404, 0.1328700502909516]
estimateCameraMatrixRANSAC : support: 94/4775
estimateCameraMatrixRANSAC : support: 3899/4775
estimateCameraMatrixRANSAC : support: 3954/4775
estimateCameraMatrixRANSAC : support: 4150/4775
estimateCameraMatrixRANSAC : support: 4162/4775
estimateCameraMatrixRANSAC : support: 4165/4775
estimateCameraMatrixRANSAC : support: 4168/4775
estimateCameraMatrixRANSAC : support: 4178/4775
estimateCameraMatrixRANSAC : support: 4179/4775
estimateCameraMatrixRANSAC : best support: 4179/4775
estimateCameraMatrixRANSAC : support: 4165/4775
estimateCameraMatrixRANSAC : support: 4170/4775
estimateCameraMatrixRANSAC : support: 4174/4775
estimateCameraMatrixRANSAC : support: 4176/4775
estimateCameraMatrixRANSAC : best support: 4176/4775
[       OK ] SFM.Resection (56333 ms)
[ RUN      ] SFM.ReconstructNViews
detecting points...
matching points...
flann matching...
filtering matches GMS...
Get total 4686 matches.
flann matching...
filtering matches GMS...
Get total 2094 matches.
flann matching...
filtering matches GMS...
Get total 4508 matches.
flann matching...
filtering matches GMS...
Get total 4905 matches.
flann matching...
filtering matches GMS...
Get total 2414 matches.
flann matching...
filtering matches GMS...
Get total 5073 matches.
estimateFMatrixRANSAC : support: 3837/4686
F info:
F:
 3.14892e-09 -8.40167e-08  0.000148845
-1.19625e-07 -5.76199e-09   -0.0020576
 0.000134917   0.00223017    -0.180824
U:
0.000822974    0.068844    0.997627
 -0.0113765   -0.997562   0.0688489
  -0.999935   0.0114062 3.77612e-05
s:
    0.18085
2.54937e-05
 9.1006e-23
V:
-0.000745962     0.065053     0.997882
  -0.0123308     0.997805   -0.0650573
    0.999924    0.0123532  -5.7833e-05
estimateFMatrixRANSAC : support: 3931/4686
F info:
F:
-2.73997e-09  6.84247e-08 -0.000121245
 1.00033e-07 -2.01135e-09   0.00208159
-9.39206e-05  -0.00220925     0.122823
U:
-0.000986698   -0.0563235    -0.998412
     0.01694     0.998268   -0.0563321
    0.999856   -0.0169686 -3.08715e-05
s:
   0.122861
3.75264e-05
7.81148e-24
V:
-0.000764324    0.0451341     0.998981
  -0.0179791     0.998819   -0.0451406
    0.999838    0.0179953 -4.80507e-05
estimateFMatrixRANSAC : support: 3995/4686
F info:
F:
-3.17418e-09  8.63089e-08 -0.000151899
 1.17715e-07   7.4389e-10   0.00206638
-0.000131409  -0.00222405     0.170127
U:
-0.000892644   -0.0701339    -0.997537
   0.0121431     0.997463   -0.0701396
    0.999926   -0.0121758 -3.87349e-05
s:
   0.170155
2.71311e-05
5.03495e-24
V:
-0.000772225    0.0633091     0.997994
  -0.0130698     0.997908   -0.0633138
    0.999914    0.0130925 -5.68295e-05
estimateFMatrixRANSAC : support: 4097/4686
F info:
F:
-2.84821e-09  7.37812e-08 -0.000131513
 1.11017e-07  1.97325e-09   0.00206934
-0.000118206  -0.00221763     0.149963
U:
-0.000876704   -0.0610181     0.998136
   0.0137947     0.998041    0.0610244
    0.999904   -0.0138225  3.32626e-05
s:
   0.149993
3.07035e-05
1.09873e-23
V:
-0.000787987    0.0568295     0.998384
  -0.0147834     0.998274   -0.0568349
     0.99989    0.0148043 -5.35076e-05
estimateFMatrixRANSAC : support: 4098/4686
F info:
F:
-2.27588e-09  7.64261e-08 -0.000129555
 9.83217e-08  -1.3622e-09   0.00208187
-0.000105121  -0.00221558     0.135457
U:
-0.000956064   -0.0598728    -0.998206
   0.0153632     0.998087   -0.0598804
    0.999882   -0.0153929 -3.43961e-05
s:
   0.135492
 3.4146e-05
1.95597e-24
V:
-0.000775744     0.050266     0.998736
  -0.0163502     0.998602    -0.050272
    0.999866    0.0163685 -4.72008e-05
estimateFMatrixRANSAC : support: 4099/4686
F info:
F:
 2.11796e-09 -8.76347e-08  0.000140913
-9.63459e-08  3.50656e-09  -0.00208535
 0.000105093   0.00222069    -0.140741
U:
 0.00100087   0.0647724      0.9979
 -0.0148116    -0.99779   0.0647802
   -0.99989   0.0148453 3.92777e-05
s:
   0.140774
3.30033e-05
6.22362e-22
V:
-0.000746442    0.0501889     0.998739
  -0.0157731     0.998615   -0.0501944
    0.999875    0.0157907 -4.62276e-05
estimateFMatrixRANSAC : support: 4100/4686
F info:
F:
 1.98821e-09   -8.716e-08  0.000141877
-9.28672e-08   2.6032e-09  -0.00208706
 0.000104174   0.00222106    -0.140432
U:
  0.00100994    0.0651968    -0.997872
  -0.0148564    -0.997761   -0.0652046
   -0.999889    0.0148907 -3.90826e-05
s:
   0.140465
3.31098e-05
1.18477e-21
V:
-0.000741546    0.0496533     0.998766
  -0.0158105     0.998641   -0.0496588
    0.999875    0.0158278 -4.45036e-05
estimateFMatrixRANSAC : support: 4101/4686
F info:
F:
 1.90882e-09 -9.17263e-08  0.000144822
-9.28415e-08  4.57946e-09   -0.0020888
 0.000103797    0.0022223    -0.141176
U:
 0.00102547   0.0663977    0.997793
 -0.0147904   -0.997683   0.0664056
   -0.99989   0.0148259 4.10474e-05
s:
   0.141209
3.29814e-05
 1.4872e-21
V:
-0.000734968    0.0494713     0.998775
   -0.015736     0.998651   -0.0494767
    0.999876    0.0157531 -4.45014e-05
estimateFMatrixRANSAC : best support: 4101/4686
U:
 -0.129135 0.00913319   0.991585
  0.099414    -0.9948  0.0221096
  0.986631   0.101433   0.127556
s:
    6.59552
    6.59552
7.66835e-19
V:
-0.0113824   0.129302    0.99154
  0.995559  0.0941362 -0.0008473
-0.0934494   0.987127  -0.129799
R0:
    0.99979   0.0204088 -0.00208755
  0.0203914    -0.99976 -0.00804054
-0.00225114  0.00799628   -0.999965
R1:
   0.966602  -0.0220891   -0.255327
  0.0234538    0.999722   0.0023009
   0.255205 -0.00821243    0.966852
t0:
 0.991585
0.0221096
 0.127556
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 4686
decomposeEMatrix: count: 0
best idx: 2
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.9666024583266672, -0.02208912543003733, -0.2553267672896405, 0.9915848984598854;
 0.02345377089605347, 0.9997222746745559, 0.002300902059363388, 0.02210962946375033;
 0.255205031665909, -0.008212433090590816, 0.9668520816314845, 0.127556079554342]
estimateCameraMatrixRANSAC : support: 162/3784
estimateCameraMatrixRANSAC : support: 219/3784
estimateCameraMatrixRANSAC : support: 224/3784
estimateCameraMatrixRANSAC : support: 290/3784
estimateCameraMatrixRANSAC : support: 861/3784
estimateCameraMatrixRANSAC : support: 2083/3784
estimateCameraMatrixRANSAC : support: 2352/3784
estimateCameraMatrixRANSAC : support: 2481/3784
estimateCameraMatrixRANSAC : best support: 2481/3784
relative_cos_vals: [0.966852, -0.129799, -0.378665]
relative_cos_vals: [0.973138, -0.51824, -0.70077]
exporting 8216 points...
[       OK ] SFM.ReconstructNViews (35785 ms)
[----------] 9 tests from SFM (174358 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test suite ran. (174358 ms total)
[  PASSED  ] 9 tests.

commit d97fcc2 Author: mozhaa <mozhay2005@gmail.com> Date: Wed Mar 18 11:59:58 2026 +0300 fix: use different ratio_threshold again commit 04861d7 Author: mozhaa <mozhay2005@gmail.com> Date: Wed Mar 18 10:24:45 2026 +0300 fix: use different ratio threshold commit fa076f2 Author: mozhaa <mozhay2005@gmail.com> Date: Wed Mar 18 09:44:41 2026 +0300 chore: enable my descriptor testing commit f314a4b Author: mozhaa <mozhay2005@gmail.com> Date: Wed Mar 18 09:42:35 2026 +0300 feat: hw2 done commit 47e0b24 Author: mozhaa <mozhay2005@gmail.com> Date: Wed Mar 18 08:46:12 2026 +0300 Squashed commit of the following: commit de66734 Author: mozhaa <mozhay2005@gmail.com> Date: Mon Feb 23 16:20:06 2026 +0300 feat: better answer in the last question commit 540e59d Author: mozhaa <mozhay2005@gmail.com> Date: Mon Feb 23 16:15:11 2026 +0300 feat: implemented all TODOs, enabled tests (they pass) commit 9d8dda1 Author: Boris <simiyutin.boris@yandex.ru> Date: Wed Mar 11 11:18:38 2026 +0300 Update README for bonus points criteria commit a56074e Author: Boris <simiyutin.boris@yandex.ru> Date: Tue Mar 10 22:48:06 2026 +0300 opencl matching can be slower on server

mozhaa added 5 commits March 19, 2026 11:29

done

8917156

fix: ensure positive X(3) in triangulatePoint

3d0da59

chore: increase n_trials

0772632

chore: increase n_trials more

2e808ce

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Task03 Василий Можаев СПбГУ #45

Task03 Василий Можаев СПбГУ #45
mozhaa wants to merge 5 commits intoPhotogrammetryCourse:task03from
mozhaa:task03

mozhaa commented Mar 19, 2026 •

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mozhaa commented Mar 19, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mozhaa commented Mar 19, 2026 •

edited

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