Task03 Леонид Тернопол СПбГУ by firelion9 · Pull Request #57 · PhotogrammetryCourse/PhotogrammetryTasks2026

firelion9 · 2026-03-21T22:03:21Z

Перечислите идеи и коротко обозначьте мысли которые у вас возникали по мере выполнения задания, в частности попробуйте ответить на вопросы:

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?
Во-первых, резекция позволяет сразу учесть все смаченные точки из облака (а не только общие с какой-то одной другой картинкой). Во-вторых, при разложении E мы получим матрицу проекции в системе координат, зависящей от 2ой картинки. Чтобы перейти в глобальные координаты, нам нужно будет применить цепочку преобразований, в которой будет накапливаться дополнительная погрешность
Как реализовать выравнивание если мы все же хотим использовать Е матрицу?
Не считая погрешности, единственная проблема, которая у нас есть -- это преобразование проекции из локальных координат камеры одной картинки относительно другой в проекцию из глобальных координат. Она решается очень просто: из матрицы проекции можно вытащить координаты и положение одной камеры относительно другой, а потом перемножить преобразования по цепочке до корневой картинки. Что-то похожее мы уже делали в прошлый раз
Если есть, фидбек по заданию: какая часть больше всего понравилась, где-то слишком сложно/просто (что именно), где-то слишком мало ссылок и тд.

Github Actions CI

Run ./build/test_sfm
  ./build/test_sfm
  shell: /usr/bin/bash -e {0}
  env:
    BUILD_TYPE: RelWithDebInfo
Running main() from /home/runner/work/PhotogrammetryTasks2026-public/PhotogrammetryTasks2026-public/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 9 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 9 tests from SFM
[ RUN      ] SFM.EpipolarDist
[       OK ] SFM.EpipolarDist (1 ms)
[ RUN      ] SFM.FmatrixSimple
estimateFMatrixRANSAC : support: 5/8
F info:
F:
 0.000375435    0.0008884   -0.0746074
-0.000842877  0.000514549    0.0631881
 0.000109194    -0.070385      2.91519
U:
-0.0255707  -0.407864   0.912684
 0.0216464   0.912543   0.408408
  0.999439 -0.0301996  0.0145056
s:
    2.91768
 0.00241765
1.61239e-20
V:
2.78604e-05   -0.382846    0.923812
 -0.0241141    0.923543    0.382735
   0.999709   0.0222875  0.00920624
estimateFMatrixRANSAC : best support: 5/8
checkFmatrixSpectralProperty: s:     2.91768  0.00241765 1.61239e-20
checkFmatrixSpectralProperty: s:     1.12307    0.112607 3.18992e-19
[       OK ] SFM.FmatrixSimple (379 ms)
[ RUN      ] SFM.EmatrixSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 6/8
F info:
F:
-2.73128e-05   4.3432e-05  -0.00411356
-1.70604e-05  8.90324e-05   -0.0111228
  0.00934935   -0.0153545      1.47545
U:
-0.00278792  -0.0233548    0.999723
-0.00753794    0.999699   0.0233332
   0.999968   0.0074708  0.00296313
s:
    1.47561
5.97415e-05
2.10998e-21
V:
0.00633585   0.894349   0.447325
-0.0104057  -0.447251   0.894348
  0.999926 -0.0103212 0.00647266
estimateFMatrixRANSAC : best support: 6/8
checkEmatrixSpectralProperty: s:     15.1743     15.1743 1.30403e-16
[       OK ] SFM.EmatrixSimple (381 ms)
[ RUN      ] SFM.EmatrixDecomposeSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 6/8
F info:
F:
-2.73128e-05   4.3432e-05  -0.00411356
-1.70604e-05  8.90324e-05   -0.0111228
  0.00934935   -0.0153545      1.47545
U:
-0.00278792  -0.0233548    0.999723
-0.00753794    0.999699   0.0233332
   0.999968   0.0074708  0.00296313
s:
    1.47561
5.97415e-05
2.10998e-21
V:
0.00633585   0.894349   0.447325
-0.0104057  -0.447251   0.894348
  0.999926 -0.0103212 0.00647266
estimateFMatrixRANSAC : best support: 6/8
U:
 0.407796 -0.864578   0.29361
 0.909931  0.358152 -0.209172
0.0756887  0.352464  0.932759
s:
    15.1743
    15.1743
1.30403e-16
V:
   0.18769  -0.958098   0.216383
 -0.979189  -0.199831 -0.0354621
 0.0772161  -0.205224  -0.975664
R0:
 0.291968  0.917663 -0.269535
 0.893763 -0.161449  0.418476
 0.340504 -0.363082 -0.867311
R1:
 -0.164903  -0.938487  -0.303395
 -0.984285   0.176284 -0.0103127
 0.0631621   0.296926  -0.952809
t0:
  0.29361
-0.209172
 0.932759
decomposeEMatrix: count: 8
decomposeEMatrix: count: 0
decomposeEMatrix: count: 6
decomposeEMatrix: count: 2
best idx: 0
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.2919675818459775, 0.9176633324633562, -0.2695346719872254, 0.2936099125555492;
 0.893762648725946, -0.1614489709549633, 0.4184764718833842, -0.2091722198479547;
 0.3405044183169932, -0.3630815859140094, -0.8673110763023701, 0.9327594554294278]
E: 
[-13.60947592705609, 3.407140081965137, -3.142149574241617;
 2.592282953171522, 14.47688694528779, 0.04873110639309382;
 4.865252869046945, 2.173971505193554, 1]
E1: 
[-13.60947592705609, 3.407140081965133, -3.142149574241617;
 2.592282953171522, 14.47688694528778, 0.04873110639309421;
 4.865252869046944, 2.173971505193554, 1]
E2: 
[-13.60947592705609, 3.407140081965133, -3.142149574241617;
 2.592282953171522, 14.47688694528778, 0.04873110639309421;
 4.865252869046944, 2.173971505193554, 1]
RMS1: 1.64035e-15
RMS2: 1.64035e-15
RMS3: 0
[       OK ] SFM.EmatrixDecomposeSimple (380 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: 34/16740
F info:
F:
-1.93364e-06 -2.91295e-07   0.00258671
-3.19046e-06  1.10252e-06   0.00137297
  0.00676372  -0.00145997     -4.51503
U:
  0.00057291      0.86354     -0.50428
 0.000304088     -0.50428     -0.86354
          -1  0.000341385 -0.000551499
s:
    4.51503
2.59992e-06
3.49367e-22
V:
-0.00149804    0.864694    0.502297
0.000323358   -0.502297    0.864695
   0.999999  0.00145777 0.000472858
estimateFMatrixRANSAC : support: 45/16740
F info:
F:
-4.08006e-06  1.67845e-06 -7.21605e-06
 1.07842e-06 -4.85535e-07  5.31781e-05
  0.00191027 -0.000541705      -0.2954
U:
-2.43272e-05    -0.945422    -0.325848
 0.000179986     0.325848    -0.945422
          -1  8.16474e-05 -0.000162235
s:
   0.295407
4.71737e-06
1.86117e-22
V:
-0.00646656    0.925251      0.3793
 0.00183376   -0.379297    0.925273
   0.999977  0.00667888 0.000756059
estimateFMatrixRANSAC : support: 147/16740
F info:
F:
-2.27446e-07  3.24916e-06  -0.00535041
-2.17548e-06  -9.0103e-07   0.00258901
  0.00379542 -0.000298986      -1.3713
U:
-0.00390165   -0.949087    0.314991
 0.00188797    0.314986    0.949094
  -0.999991  0.00429773 0.000562884
s:
    1.37132
1.65114e-05
 7.0059e-23
V:
 -0.0027677    0.959476    0.281775
0.000218016   -0.281776     0.95948
   0.999996  0.00271698 0.000570689
estimateFMatrixRANSAC : support: 701/16740
F info:
F:
-1.10019e-06 -1.78093e-06   0.00208987
 2.92619e-06 -1.32682e-08  -0.00164902
 -0.00267291   0.00127217     0.469224
U:
 0.00445364   -0.858021   -0.513595
-0.00351419    0.513583   -0.858033
   0.999984  0.00562624 -0.00072794
s:
   0.469241
1.52931e-05
1.27196e-21
V:
-0.00569618   -0.823352    0.567502
 0.00271105    0.567497    0.823371
    0.99998  -0.0062286  0.00100041
estimateFMatrixRANSAC : support: 827/16740
F info:
F:
 4.93895e-07  1.59039e-06  -0.00123939
 -2.2412e-06 -1.20056e-07   0.00160468
  0.00170056  -0.00108182    -0.553279
U:
 -0.00224003     0.776443    -0.630184
  0.00290026    -0.630178    -0.776445
   -0.999993  -0.00356696 -0.000840269
s:
   0.553286
6.70486e-06
2.36778e-22
V:
-0.00307355    -0.63685    0.770982
 0.00195524     0.77098    0.636856
   0.999993 -0.00346487  0.00112445
estimateFMatrixRANSAC : support: 2291/16740
F info:
F:
-5.46631e-09 -2.39939e-07  0.000284674
 1.06956e-07  7.37653e-08  -0.00174139
-8.76071e-05   0.00165696   0.00345681
U:
 0.0636241  -0.148543   0.986857
 -0.389322   0.906816   0.161595
  0.918902   0.394486 0.00013571
s:
 0.00416187
0.000703569
4.22351e-20
V:
 -0.0193529  -0.0489817    0.998612
    0.36583     0.92919   0.0526663
    0.93048   -0.366341 6.35654e-05
estimateFMatrixRANSAC : support: 2786/16740
F info:
F:
 1.52036e-08  5.86486e-08  8.80116e-05
-2.10395e-07  7.07619e-08  -0.00155228
 9.27241e-05    0.0013795     0.149605
U:
 0.000588216   -0.0522671     0.998633
  -0.0103744     0.998579    0.0522704
    0.999946     0.010391 -4.51377e-05
s:
   0.149619
1.44222e-05
1.13708e-22
V:
 0.000619715    0.0521838     0.998637
  0.00921954     0.998595   -0.0521873
    0.999957  -0.00923931 -0.000137734
estimateFMatrixRANSAC : best support: 2786/16740
estimateFMatrixRANSAC : support: 1580/4728
F info:
F:
-1.09301e-07  1.80088e-06   -0.0035261
 -1.7254e-06 -4.51733e-07   0.00328567
  0.00366758  -0.00186137     -1.22491
U:
 -0.00287861     -0.79596    -0.605343
  0.00268233     0.605337    -0.795965
   -0.999992     0.003915 -0.000392499
s:
    1.22492
1.61396e-05
5.52262e-23
V:
-0.00299411    0.830324    0.557273
 0.00151956   -0.557271    0.830329
   0.999994  0.00333291 0.000406798
estimateFMatrixRANSAC : support: 2399/4728
F info:
F:
-2.56129e-08  5.12474e-07 -0.000969749
-4.47655e-07 -1.16097e-07   0.00229678
 0.000983601   -0.0019685    -0.329837
U:
 -0.00293986    -0.414698    -0.909954
  0.00696287     0.909928    -0.414709
   -0.999971   0.00755508 -0.000212437
s:
   0.329854
1.67404e-05
1.03155e-21
V:
-0.00298185    0.420209    0.907423
  0.0059676   -0.907403    0.420219
   0.999978  0.00666817 0.000198103
estimateFMatrixRANSAC : support: 3230/4728
F info:
F:
-3.21679e-09 -2.12707e-08 -5.24888e-06
-1.39073e-07 -4.71592e-08  -0.00166251
 0.000234908   0.00195258    -0.273708
U:
-1.91751e-05  -0.00493097     0.999988
 -0.00607363    -0.999969  -0.00493099
   -0.999982   0.00607365  1.07744e-05
s:
    0.27372
1.20094e-05
2.68351e-24
V:
-0.000858187     0.130384     0.991463
 -0.00713337     0.991438    -0.130387
    0.999974   0.00718437 -7.92392e-05
estimateFMatrixRANSAC : support: 3749/4728
F info:
F:
-1.90091e-09  6.62076e-08 -0.000110415
 9.22794e-08  7.73605e-09   0.00176185
-0.000103506  -0.00191292     0.150581
U:
-0.000733099   -0.0595809    -0.998223
   0.0116976     0.998155   -0.0595854
    0.999931   -0.0117205 -3.47902e-05
s:
   0.150604
 2.2464e-05
1.40661e-22
V:
-0.000687219    0.0581091      0.99831
  -0.0127008     0.998229   -0.0581132
    0.999919    0.0127193 -5.20328e-05
estimateFMatrixRANSAC : support: 4073/4728
F info:
F:
 2.31787e-09 -7.47385e-08  0.000127281
-9.42375e-08 -6.01908e-10  -0.00177373
 0.000105853   0.00190482    -0.138518
U:
0.000918636   0.0685257    0.997649
 -0.0128015   -0.997567   0.0685318
  -0.999918   0.0128344 3.91659e-05
s:
   0.138543
2.44882e-05
2.09705e-24
V:
-0.000763975    0.0593237     0.998239
  -0.0137478     0.998144   -0.0593286
    0.999905    0.0137689 -5.30158e-05
estimateFMatrixRANSAC : support: 4111/4728
F info:
F:
-2.01875e-09  7.92893e-08 -0.000129808
 8.68936e-08 -2.33195e-09   0.00178261
-9.73747e-05  -0.00190385     0.129211
U:
 -0.00100432   -0.0696302    -0.997572
   0.0137917     0.997477   -0.0696375
    0.999904   -0.0138282 -4.14605e-05
s:
   0.129238
2.63608e-05
1.82249e-22
V:
-0.000753373    0.0543736      0.99852
  -0.0147299     0.998412   -0.0543788
    0.999891    0.0147491 -4.87443e-05
estimateFMatrixRANSAC : support: 4131/4728
F info:
F:
 2.26288e-09 -5.90759e-08  0.000105575
-9.67404e-08  -1.4491e-09  -0.00177105
 0.000105397   0.00189578    -0.126126
U:
 0.000836796    0.0572888    -0.998357
  -0.0140374    -0.998259   -0.0572949
   -0.999901    0.0140623 -3.11543e-05
s:
   0.126152
2.67068e-05
3.74995e-24
V:
-0.000835379    0.0591167     0.998251
  -0.0150262     0.998138   -0.0591226
    0.999887    0.0150493 -5.44792e-05
estimateFMatrixRANSAC : support: 4149/4728
F info:
F:
 2.06077e-09 -7.12503e-08  0.000119456
 -8.8615e-08  1.83188e-09   -0.0017804
 9.75087e-05   0.00189977    -0.125505
U:
0.000951499   0.0643153    0.997929
 -0.0141812   -0.997828   0.0643223
  -0.999899    0.014213  3.7365e-05
s:
   0.125532
2.70384e-05
8.61768e-24
V:
-0.000776675    0.0545316     0.998512
  -0.0151322     0.998397   -0.0545371
    0.999885    0.0151521 -4.97546e-05
estimateFMatrixRANSAC : support: 4150/4728
F info:
F:
 2.19424e-09 -6.37546e-08  0.000110852
-9.25364e-08 -7.89417e-10  -0.00177437
 0.000100167   0.00189833    -0.125678
U:
  0.00088175    0.0599787    -0.998199
  -0.0141138    -0.998099   -0.0599851
     -0.9999    0.0141412 -3.35491e-05
s:
   0.125705
2.68871e-05
4.62192e-24
V:
-0.000796751    0.0561227     0.998424
  -0.0150999     0.998309   -0.0561284
    0.999886    0.0151208 -5.20443e-05
estimateFMatrixRANSAC : support: 4151/4728
F info:
F:
-2.21489e-09  7.03024e-08 -0.000119054
 8.82613e-08 -8.02267e-10   0.00177969
-9.36925e-05  -0.00190004     0.122865
U:
-0.000968657   -0.0642031    -0.997936
     0.01448     0.997831   -0.0642104
    0.999895   -0.0145123  -3.6897e-05
s:
   0.122892
2.76099e-05
1.45005e-24
V:
-0.000762305    0.0524415     0.998624
  -0.0154594     0.998504    -0.052447
     0.99988    0.0154781  -4.9549e-05
estimateFMatrixRANSAC : support: 4152/4728
F info:
F:
-2.15966e-09  6.77519e-08  -0.00011597
 8.84336e-08  6.40717e-10   0.00177741
-9.50082e-05  -0.00190063      0.12486
U:
-0.000928499   -0.0626112    -0.998038
   0.0142304     0.997936   -0.0626181
    0.999898   -0.0142606 -3.55982e-05
s:
   0.124888
2.71422e-05
1.00334e-24
V:
-0.000760662    0.0531742     0.998585
  -0.0152172     0.998469   -0.0531796
    0.999884    0.0152361 -4.96646e-05
estimateFMatrixRANSAC : support: 4153/4728
F info:
F:
-1.80113e-09  6.64027e-08 -0.000110216
 8.51266e-08 -6.05895e-10   0.00178069
-9.35042e-05  -0.00189884     0.119527
U:
 -0.00092177   -0.0594366    -0.998232
   0.0148923     0.998121   -0.0594437
    0.999889   -0.0149208 -3.48893e-05
s:
   0.119556
2.83699e-05
2.02032e-24
V:
   -0.000782    0.0521761     0.998638
  -0.0158807     0.998511   -0.0521819
    0.999874    0.0158999 -4.77581e-05
estimateFMatrixRANSAC : best support: 4153/4728
n matches gms: 4728
n matches F: 2803
n matches gms + F: 4153
[       OK ] SFM.FmatrixMatchFiltering (15316 ms)
[ RUN      ] SFM.RelativePosition2View
detecting points...
matching points...
filtering matches GMS...
Get total 4667 matches.
estimateFMatrixRANSAC : support: 44/4667
F info:
F:
-6.93616e-07 -4.40812e-06    0.0068396
 3.59809e-06  1.35539e-06  -0.00524938
 -0.00474405   0.00149866      2.30374
U:
  0.00296887      0.88043    -0.474166
 -0.00227861    -0.474161    -0.880435
    0.999993  -0.00369434 -0.000598433
s:
    2.30376
1.82356e-05
3.77972e-22
V:
-0.00205925    0.834051    0.551684
0.000650515   -0.551684    0.834053
   0.999998   0.0020764 0.000593494
estimateFMatrixRANSAC : support: 3732/4667
F info:
F:
-2.11421e-09  1.06623e-07 -0.000167579
 4.69728e-08 -2.15021e-09   0.00180419
-3.75007e-05  -0.00192066     0.118333
U:
 -0.00141564   -0.0888844    -0.996041
   0.0152408     0.995924   -0.0888956
    0.999883   -0.0153063 -5.51946e-05
s:
   0.118363
2.93971e-05
9.97747e-23
V:
-0.000316785    0.0211235     0.999777
   -0.016225     0.999645   -0.0211258
    0.999868     0.016228 -2.60548e-05
estimateFMatrixRANSAC : support: 3979/4667
F info:
F:
 2.86253e-09 -7.75801e-08  0.000136592
-1.02883e-07  5.23098e-10  -0.00176689
 0.000116201   0.00190126    -0.148166
U:
0.000921676   0.0736802    0.997281
 -0.0119222    -0.99721    0.073686
  -0.999929   0.0119577 4.06733e-05
s:
   0.148189
2.27794e-05
3.18106e-24
V:
-0.000784078    0.0655113     0.997852
  -0.0128291     0.997769    -0.065516
    0.999917    0.0128529 -5.81227e-05
estimateFMatrixRANSAC : support: 3999/4667
F info:
F:
-1.34907e-09  8.20046e-08 -0.000128443
 7.26124e-08 -2.93277e-09   0.00178864
-8.49703e-05  -0.00190332     0.122258
U:
 -0.00105023   -0.0687018    -0.997637
   0.0146249     0.997529   -0.0687098
    0.999892   -0.0146625 -4.28774e-05
s:
   0.122286
2.79334e-05
3.41328e-22
V:
-0.000694766    0.0471982     0.998885
  -0.0155628     0.998764   -0.0472033
    0.999879    0.0155782 -4.06286e-05
estimateFMatrixRANSAC : support: 4063/4667
F info:
F:
  1.9182e-09 -7.48181e-08   0.00012283
-8.22813e-08  1.17286e-09  -0.00178031
 8.98269e-05   0.00190035    -0.124226
U:
0.000988441    0.066097    0.997813
 -0.0143264    -0.99771   0.0661044
  -0.999897   0.0143604 3.92438e-05
s:
   0.124253
2.73214e-05
9.07301e-23
V:
 -0.00072285    0.0502233     0.998738
  -0.0152926     0.998621   -0.0502285
    0.999883    0.0153096 -4.61921e-05
estimateFMatrixRANSAC : support: 4075/4667
F info:
F:
-1.48729e-09  7.35435e-08 -0.000117169
 8.36533e-08 -3.65236e-09   0.00178246
-9.79943e-05  -0.00189656     0.123235
U:
-0.000950464   -0.0629299    -0.998017
   0.0144589     0.997913   -0.0629371
    0.999895   -0.0144901 -3.85793e-05
s:
   0.123263
2.75174e-05
9.77844e-23
V:
-0.000794911    0.0546389     0.998506
  -0.0153847     0.998387   -0.0546446
    0.999881    0.0154051 -4.69733e-05
estimateFMatrixRANSAC : support: 4094/4667
F info:
F:
-1.97837e-09  7.00585e-08 -0.000116589
 8.46542e-08 -1.31877e-09   0.00177945
-9.10347e-05   -0.0018965     0.119195
U:
-0.000977794   -0.0629157     0.998018
   0.0149235     0.997907    0.0629233
    0.999888   -0.0149555   3.6824e-05
s:
   0.119223
2.83977e-05
2.32591e-23
V:
 -0.00076347     0.050922     0.998702
  -0.0159053     0.998576   -0.0509277
    0.999873    0.0159236 -4.75491e-05
estimateFMatrixRANSAC : support: 4095/4667
F info:
F:
 2.06547e-09 -7.23196e-08  0.000122085
-8.37096e-08  1.85435e-09  -0.00178054
 9.08078e-05   0.00189749    -0.122455
U:
0.000996642   0.0657989    0.997832
 -0.0145353   -0.997727   0.0658065
  -0.999894   0.0145694 3.79664e-05
s:
   0.122483
2.76778e-05
2.10326e-23
V:
-0.000741304    0.0508231     0.998707
  -0.0154902     0.998587   -0.0508285
     0.99988    0.0155079 -4.70057e-05
estimateFMatrixRANSAC : best support: 4095/4667
U:
 -0.117313  0.0272796    0.99272
-0.0215975  -0.999456  0.0249125
   0.99286 -0.0185177   0.117839
s:
    5.63798
    5.63798
3.96367e-17
V:
 0.00296491    0.136711    0.990607
   0.999683  -0.0251673 0.000481188
  0.0249967    0.990291   -0.136742
R0:
   0.999514   0.0247962  -0.0188902
  0.0246678   -0.999671 -0.00700187
 -0.0190577  0.00653249   -0.999797
R1:
   0.967276  -0.0238409   -0.252603
  0.0246892    0.999695 0.000188702
   0.252521 -0.00641908     0.96757
t0:
  0.99272
0.0249125
 0.117839
decomposeEMatrix: count: 3238
decomposeEMatrix: count: 1429
decomposeEMatrix: count: 4667
decomposeEMatrix: count: 0
best idx: 2
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.967276278383476, -0.02384085077593501, -0.2526028802505869, 0.9927201980497776;
 0.02468917135034494, 0.9996951581404964, 0.0001887020980680448, 0.02491249303058064;
 0.252521377500294, -0.006419082857239841, 0.967570022934065, 0.1178387715270822]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.967276278383476, -0.02384085077593501, -0.2526028802505869;
 0.02468917135034494, 0.9996951581404964, 0.0001887020980680448;
 0.252521377500294, -0.006419082857239841, 0.967570022934065]
O1: [-0.9906065763638536, -0.000481187717691233, 0.1367420174016229]
relative_cos_vals: [0.96757, -0.136742, -0.382537]
exporting point cloud...
exporting 4671 points...
[       OK ] SFM.RelativePosition2View (5271 ms)
[ RUN      ] SFM.Resection
detecting points...
matching points...
filtering matches GMS...
Get total 4753 matches.
estimateFMatrixRANSAC : support: 3531/4753
F info:
F:
 8.27875e-10  1.90605e-07 -0.000260034
-3.17419e-10 -2.69794e-08   0.00195259
-8.53274e-06  -0.00202832       0.1161
U:
 -0.00223876    -0.126639    -0.991946
   0.0168105     0.991804    -0.126659
    0.999856   -0.0169587 -9.15302e-05
s:
   0.116135
3.43523e-05
1.60469e-25
V:
-7.34621e-05   0.00420014     0.999991
  -0.0174627     0.999839  -0.00420078
    0.999848    0.0174628  1.04519e-07
estimateFMatrixRANSAC : support: 3582/4753
F info:
F:
 2.22598e-09 -2.48543e-08  5.78438e-05
-1.39721e-07 -2.25885e-08  -0.00178844
 0.000163561   0.00199036    -0.192571
U:
0.000300332   0.0309445    0.999521
-0.00928575   -0.999478    0.030946
  -0.999957  0.00929059 1.28326e-05
s:
    0.19259
1.85887e-05
5.47997e-24
V:
-0.000849228    0.0892638     0.996008
  -0.0103343     0.995954   -0.0892678
    0.999946    0.0103688 -7.66856e-05
estimateFMatrixRANSAC : support: 3619/4753
F info:
F:
 1.99884e-09 -7.61137e-08  0.000128855
-1.25147e-07 -2.35328e-09  -0.00183348
 0.000165262   0.00198856    -0.174847
U:
 0.000736826    0.0664696    -0.997788
  -0.0104843    -0.997733   -0.0664737
   -0.999945    0.0105101 -3.82698e-05
s:
   0.174868
2.09813e-05
2.17501e-23
V:
-0.000945009    0.0887414     0.996054
  -0.0113712     0.995989   -0.0887464
    0.999935    0.0114102 -6.78731e-05
estimateFMatrixRANSAC : support: 3929/4753
F info:
F:
 2.15175e-09  -1.0466e-07  0.000167503
-6.90309e-08  4.48423e-09  -0.00187806
  7.1914e-05   0.00200074    -0.134141
U:
0.00124832  0.0851474   0.996368
-0.0139961  -0.996269  0.0851565
 -0.999901  0.0140516  5.193e-05
s:
    0.13417
 2.8124e-05
1.56932e-22
V:
-0.000535933    0.0383822     0.999263
  -0.0149105     0.999152   -0.0383859
    0.999889    0.0149201 -3.68211e-05
estimateFMatrixRANSAC : support: 4033/4753
F info:
F:
-2.83158e-09  8.75745e-08 -0.000151464
 9.00342e-08  1.57396e-09   0.00185704
-9.56482e-05  -0.00199602     0.145228
U:
-0.00104266  -0.0778816    0.996962
  0.0127836     0.99688   0.0778886
   0.999918   -0.012826 4.38028e-05
s:
   0.145254
2.56319e-05
3.89613e-23
V:
-0.000658428    0.0513718     0.998679
  -0.0137405     0.998585    -0.051376
    0.999905    0.0137561  -4.8375e-05
estimateFMatrixRANSAC : support: 4043/4753
F info:
F:
 2.87939e-09 -7.91079e-08  0.000136488
-1.01925e-07 -3.55466e-09  -0.00184807
 0.000108709   0.00199143    -0.143824
U:
 0.000948741    0.0705703    -0.997506
   -0.012846    -0.997424   -0.0705767
   -0.999917    0.0128809 -3.97512e-05
s:
    0.14385
2.56957e-05
2.92217e-24
V:
-0.000755637    0.0584583      0.99829
  -0.0138426     0.998194   -0.0584632
    0.999904    0.0138631 -5.49451e-05
estimateFMatrixRANSAC : support: 4069/4753
F info:
F:
 3.00638e-09 -7.12569e-08  0.000128152
-1.04712e-07  1.25147e-10  -0.00184943
 0.000110359   0.00198298     -0.13969
U:
  0.00091714    0.0664253    -0.997791
  -0.0132357    -0.997703   -0.0664316
   -0.999912    0.0132674 -3.58507e-05
s:
   0.139717
2.63534e-05
1.82073e-24
V:
-0.000789794    0.0595307     0.998226
  -0.0141916     0.998125   -0.0595359
    0.999899    0.0142134  -5.6522e-05
estimateFMatrixRANSAC : support: 4111/4753
F info:
F:
 2.42673e-09 -7.88501e-08  0.000133313
-9.53635e-08 -1.66375e-09  -0.00185317
 0.000104478   0.00199084    -0.141827
U:
0.000939707   0.0687327    0.997635
 -0.0130627   -0.997549   0.0687391
  -0.999914   0.0130964 3.95701e-05
s:
   0.141853
2.61127e-05
1.54409e-24
V:
 -0.00073645    0.0560486     0.998428
  -0.0140333     0.998329   -0.0560534
    0.999901    0.0140525 -5.13285e-05
estimateFMatrixRANSAC : support: 4113/4753
F info:
F:
 2.02691e-09 -8.15478e-08  0.000133053
-8.45271e-08  1.98981e-09  -0.00186443
 9.19758e-05   0.00198881    -0.129467
U:
0.00102736  0.0683534   0.997661
-0.0143959  -0.997557  0.0683611
 -0.999896  0.0144325 4.0839e-05
s:
   0.129496
 2.8734e-05
1.42772e-21
V:
-0.000710177    0.0491368     0.998792
  -0.0153565     0.998674   -0.0491419
    0.999882    0.0153728 -4.53343e-05
estimateFMatrixRANSAC : support: 4116/4753
F info:
F:
  1.9836e-09 -7.96532e-08  0.000128531
-8.56458e-08  1.66888e-09  -0.00186344
 9.22131e-05   0.00198779    -0.127158
U:
  0.00101045     0.066092    -0.997813
  -0.0146493    -0.997705   -0.0660997
   -0.999892    0.0146841 -3.99281e-05
s:
  0.127188
2.9221e-05
3.5909e-23
V:
-0.000724928    0.0492675     0.998785
  -0.0156271     0.998663   -0.0492728
    0.999878    0.0156439 -4.59493e-05
estimateFMatrixRANSAC : best support: 4116/4753
U:
 0.0224618   -0.12413  -0.992012
 -0.999729 0.00321251 -0.0230386
0.00604662   0.992261  -0.124024
s:
    5.89778
    5.89778
5.17535e-17
V:
   -0.133813   0.00084349    -0.991006
 0.000123222           -1 -0.000867783
   -0.991007 -0.000238234     0.133812
R0:
   0.999681   0.0233074 -0.00972467
  0.0232447   -0.999709 -0.00650463
-0.00987344  0.00627651   -0.999932
R1:
   0.966499  -0.0215857   -0.255762
   0.022418    0.999749 0.000338944
   0.255691 -0.00606126     0.96674
t0:
 -0.992012
-0.0230386
 -0.124024
decomposeEMatrix: count: 1613
decomposeEMatrix: count: 3140
decomposeEMatrix: count: 1
decomposeEMatrix: count: 4752
best idx: 3
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.9664986793032162, -0.02158566836239232, -0.2557623151022984, 0.9920117212898385;
 0.02241796293427161, 0.9997486284334203, 0.0003389444980867974, 0.02303855234244538;
 0.2556907073849501, -0.006061259509704809, 0.9667396357293624, 0.1240240699603738]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9664986793032162, -0.02158566836239232, -0.2557623151022984;
 0.02241796293427161, 0.9997486284334203, 0.0003389444980867974;
 0.2556907073849501, -0.006061259509704809, 0.9667396357293624]
O1: [-0.9910062980733398, -0.000867783004603298, 0.13381242143998]
estimateCameraMatrixRANSAC : support: 4142/4753
estimateCameraMatrixRANSAC : support: 4144/4753
estimateCameraMatrixRANSAC : support: 4150/4753
estimateCameraMatrixRANSAC : best support: 4150/4753
estimateCameraMatrixRANSAC : support: 4064/4753
estimateCameraMatrixRANSAC : support: 4142/4753
estimateCameraMatrixRANSAC : support: 4144/4753
estimateCameraMatrixRANSAC : best support: 4144/4753
[       OK ] SFM.Resection (7843 ms)
[ RUN      ] SFM.ReconstructNViews
detecting points...
matching points...
flann matching...
filtering matches GMS...
Get total 4719 matches.
flann matching...
filtering matches GMS...
Get total 2097 matches.
flann matching...
filtering matches GMS...
Get total 4572 matches.
flann matching...
filtering matches GMS...
Get total 4863 matches.
flann matching...
filtering matches GMS...
Get total 2356 matches.
flann matching...
filtering matches GMS...
Get total 5106 matches.
estimateFMatrixRANSAC : support: 2609/4719
F info:
F:
 1.63631e-09  2.03145e-07 -0.000304283
 1.21749e-07 -2.66738e-08    0.0018749
-0.000201421  -0.00204117     0.274381
U:
 -0.0011089   -0.146412    0.989223
 0.00683266    0.989199    0.146416
   0.999976 -0.00692138 9.65375e-05
s:
   0.274395
1.41533e-05
 5.5157e-23
V:
-0.000734032     0.106993     0.994259
 -0.00743863     0.994232    -0.106996
    0.999972   0.00747447 -6.60855e-05
estimateFMatrixRANSAC : support: 2882/4719
F info:
F:
-2.04161e-09 -3.13594e-07  0.000385294
 5.06286e-07  2.40598e-08   0.00156114
-0.000641634   -0.0017401        0.157
U:
  0.00245365     0.222618     0.974903
  0.00994159     0.974852    -0.222631
    0.999948   -0.0102383 -0.000178771
s:
    0.15702
1.91228e-05
6.94601e-22
V:
 -0.00408608     0.369317     0.929294
  -0.0110815     0.929228     -0.36934
     0.99993    0.0118071 -0.000295684
estimateFMatrixRANSAC : support: 3716/4719
F info:
F:
-6.87135e-10   1.0713e-07 -0.000151251
 6.05726e-08 -3.84986e-09   0.00188638
-7.43306e-05  -0.00200995     0.128128
U:
-0.00118006  -0.0763375    0.997081
  0.0147174    0.996973   0.0763466
   0.999891  -0.0147645 5.29982e-05
s:
   0.128158
2.96901e-05
1.30966e-22
V:
-0.000579922    0.0389994     0.999239
  -0.0156816     0.999116   -0.0390037
    0.999877    0.0156923 -3.21656e-05
estimateFMatrixRANSAC : support: 4062/4719
F info:
F:
 2.59879e-09 -6.87139e-08  0.000124873
-8.67478e-08  1.89426e-10  -0.00186736
 8.70196e-05   0.00198588    -0.119304
U:
 0.00104627   0.0645182   -0.997916
 -0.0156458   -0.997793  -0.0645267
  -0.999877   0.0156808 -3.4523e-05
s:
   0.119335
3.11736e-05
1.29211e-24
V:
-0.000729103    0.0465541     0.998916
  -0.0166392     0.998777   -0.0465598
    0.999861    0.0166551 -4.64092e-05
estimateFMatrixRANSAC : support: 4066/4719
F info:
F:
-2.47463e-09  8.10002e-08 -0.000137024
   9.121e-08  9.48715e-11   0.00186344
-9.75794e-05  -0.00199493     0.135844
U:
-0.00100839  -0.0703907    0.997519
  0.0137132    0.997425   0.0703979
   0.999905  -0.0137502 4.05056e-05
s:
   0.135871
2.74655e-05
2.62511e-25
V:
-0.000718098    0.0521704     0.998638
  -0.0146811      0.99853   -0.0521753
    0.999892    0.0146986 -4.88779e-05
estimateFMatrixRANSAC : support: 4069/4719
F info:
F:
-2.11948e-09  6.75822e-08 -0.000114555
  9.5219e-08  5.57158e-10    0.0018589
-0.000103533  -0.00198809     0.130426
U:
-0.000878032   -0.0591286     -0.99825
   0.0142478     0.998148   -0.0591352
    0.999898   -0.0142748 -3.39506e-05
s:
   0.130454
2.84231e-05
 5.1802e-25
V:
-0.000793548    0.0553455     0.998467
  -0.0152382     0.998351   -0.0553511
    0.999884    0.0152588 -5.11281e-05
estimateFMatrixRANSAC : support: 4070/4719
F info:
F:
  2.2317e-09 -7.97266e-08  0.000134105
-8.88905e-08  2.10887e-10  -0.00186466
 9.76492e-05   0.00199456    -0.135798
U:
0.000987238    0.068838    0.997627
 -0.0137269   -0.997533   0.0688451
  -0.999905   0.0137623 3.98699e-05
s:
   0.135825
2.74844e-05
5.17331e-23
V:
-0.000718856    0.0521279      0.99864
  -0.0146834     0.998532   -0.0521328
    0.999892    0.0147009 -4.76122e-05
estimateFMatrixRANSAC : support: 4073/4719
F info:
F:
-2.01751e-09  8.25809e-08 -0.000133765
 8.77483e-08 -2.37878e-09   0.00186788
 -9.6982e-05  -0.00199399       0.1328
U:
-0.00100695  -0.0685056     0.99765
  0.0140609    0.997551    0.068513
   0.999901  -0.0140968 4.12358e-05
s:
   0.132828
2.81417e-05
3.73707e-22
V:
-0.000730052    0.0516958     0.998663
  -0.0150104      0.99855   -0.0517009
    0.999887    0.0150281 -4.69804e-05
estimateFMatrixRANSAC : support: 4075/4719
F info:
F:
-2.32101e-09  6.50205e-08 -0.000115205
 9.31308e-08   2.8202e-09   0.00185841
-9.88807e-05  -0.00198827        0.128
U:
-0.000899739     -0.05962    -0.998221
   0.0145138     0.998115   -0.0596268
    0.999894   -0.0145417 -3.27285e-05
s:
   0.128029
2.89557e-05
1.02101e-23
V:
-0.000772241    0.0528734     0.998601
  -0.0155282      0.99848    -0.052879
    0.999879    0.0155473 -4.99628e-05
estimateFMatrixRANSAC : support: 4076/4719
F info:
F:
-1.79433e-09  7.14129e-08 -0.000115173
 8.45454e-08 -1.65312e-09   0.00186892
-8.98749e-05  -0.00198787      0.11806
U:
-0.000975163   -0.0592473    -0.998243
   0.0158238     0.998117   -0.0592553
    0.999874   -0.0158537 -3.58118e-05
s:
   0.118091
  3.155e-05
5.44658e-23
V:
-0.000760956    0.0478399     0.998855
  -0.0168312     0.998713   -0.0478459
    0.999858    0.0168484 -4.52282e-05
estimateFMatrixRANSAC : best support: 4076/4719
U:
  0.110691 -0.0223155   0.993604
 0.0166808   0.999649   0.020593
 -0.993715  0.0142947   0.111024
s:
    5.90868
    5.90868
3.54305e-18
V:
0.00118825   0.131809   0.991274
  0.999796 -0.0201639 0.00148272
 0.0201834    0.99107  -0.131806
R0:
   0.970318  -0.0186058   -0.241116
  0.0194024    0.999811 0.000930187
   0.241053 -0.00558081    0.970496
R1:
   0.999551   0.0215522  -0.0208106
  0.0214241    -0.99975 -0.00635875
 -0.0209425  0.00591005   -0.999763
t0:
0.993604
0.020593
0.111024
decomposeEMatrix: count: 4709
decomposeEMatrix: count: 10
decomposeEMatrix: count: 3249
decomposeEMatrix: count: 1470
best idx: 0
P0: 
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1: 
[0.9703179820369952, -0.01860576349244718, -0.2411158213401103, 0.9936043440679297;
 0.01940243924539105, 0.9998113222525007, 0.0009301865594540785, 0.02059297385573993;
 0.2410530213189243, -0.005580811819941474, 0.970495901821563, 0.1110240373843227]
estimateCameraMatrixRANSAC : support: 8/3936
estimateCameraMatrixRANSAC : support: 66/3936
estimateCameraMatrixRANSAC : support: 211/3936
estimateCameraMatrixRANSAC : support: 533/3936
estimateCameraMatrixRANSAC : support: 890/3936
estimateCameraMatrixRANSAC : support: 1268/3936
estimateCameraMatrixRANSAC : best support: 1268/3936
relative_cos_vals: [0.970496, -0.131806, -0.366928]
relative_cos_vals: [0.976321, -0.50519, -0.679513]
exporting 8058 points...
[       OK ] SFM.ReconstructNViews (9712 ms)
[----------] 9 tests from SFM (39283 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test suite ran. (39283 ms total)
[  PASSED  ] 9 tests.

firelion9 added 6 commits February 22, 2026 15:36

[01] SIFT impl

c53e5a7

Merge branch 'task01' into task02

e36e4fd

[02] matching base

ae3458a

[02] fixing win/macos builds

1ca031b

Merge branch 'task02' into task03

a97f003

[03] SFM baseline

a32d386

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Task03 Леонид Тернопол СПбГУ#57

Task03 Леонид Тернопол СПбГУ#57
firelion9 wants to merge 6 commits intoPhotogrammetryCourse:task03from
firelion9:task03

firelion9 commented Mar 21, 2026

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firelion9 commented Mar 21, 2026

Перечислите идеи и коротко обозначьте мысли которые у вас возникали по мере выполнения задания, в частности попробуйте ответить на вопросы:

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