update

epipolar_geometry.py

@@ -170,6 +170,17 @@ def main():
     print("e1: " , e1)
     print("e2: " , e2)
 
+    # if True:
+    # this is wrong
+    #     t = D[:3, 3]
+    #     t_2d = apply_intrinsics(K, t)
+    #     # can we find e1's epipol by projecting p2 into p1 (which is effectively projecting t into p1)
+    #     print("t: ", t)
+    #     print("t_2d: ", t_2d)
+    #     print("e1: ", e1)
+    #     print("F.T @ t_2d: ", F.T @ t_2d)
+    #     return
+
     img1_with_lines, img2_with_lines = draw_epipolar_lines(img1, img2, pts1, pts2, F)
 
     # Plot the results