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This commit is contained in:
Rick Sprague 2024-08-26 22:58:33 -04:00
parent e72c486f3c
commit ff08f4df02
1 changed files with 9 additions and 10 deletions
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19
epipolar_geometry.py
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@ -170,16 +170,15 @@ 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
if True:
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)