Task03 Никон Парвицкий ITMO by NikonFlex · Pull Request #145 · PhotogrammetryCourse/PhotogrammetryTasks2026

NikonFlex · 2026-05-30T13:18:54Z

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?

Потому что после первых двух камер у нас уже есть готовые 3д точки. Резекция определяет положение камеры прямо по этим точкам. Если бы мы считали E-матрицу для пары камера1 и камера3, то мы бы получили взаимное расположение только этих двух камер в их собственной системе координат, не привязанной к уже построенной сцене

Как реализовать выравнивание если мы все же хотим использовать Е матрицу?
Найти E для пары камера0 камера2, разложить её, получить P2 относительно камера0. Но нужно ещё выровнять масштаб, потому что он теряется при разложении E. Поэтому нужно совместить с уже известными 3д точками.
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

$ ./build/test_sift
Running main() from /Users/runner/work/PhotogrammetryTasks2026/PhotogrammetryTasks2026/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 (0 ms)
[ RUN      ] SFM.FmatrixSimple
estimateFMatrixRANSAC : support: 4/8
F info:
F:
-0.000400854  7.16031e-06   0.00653467
 0.000188908 -0.000892814     0.025667
   0.0263064    0.0621275     -2.45198
U:
0.00266456  -0.580246  -0.814437
 0.0104677   0.814411  -0.580194
 -0.999942 0.00697934 -0.0082439
s:
    2.45306
0.000643083
7.18456e-20
V:
 -0.0107229    0.886424     0.46275
 -0.0253289   -0.462869    0.886065
   0.999622 -0.00221977   0.0274155
estimateFMatrixRANSAC : best support: 4/8
checkFmatrixSpectralProperty: s:     2.45306 0.000643083 7.18456e-20
checkFmatrixSpectralProperty: s:    1.00586 0.00337212 4.2996e-19
[       OK ] SFM.FmatrixSimple (2620 ms)
[ RUN      ] SFM.EmatrixSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 4/8
F info:
F:
 1.49114e-05  4.51253e-05  -0.00793024
 3.86113e-05 -6.14418e-05  -0.00493426
 -0.00626226   0.00840091     0.937136
U:
-0.00846041    0.989178    0.146476
 -0.0052652   -0.146524    0.989193
    0.99995  0.00759775  0.00644787
s:
   0.937241
0.000123619
9.52549e-21
V:
-0.00668161   -0.311332    0.950278
 0.00896294    0.950242    0.311384
   0.999938  -0.0105978  0.00355869
estimateFMatrixRANSAC : best support: 4/8
checkEmatrixSpectralProperty: s:     14.6097     14.6097 2.10899e-16
[       OK ] SFM.EmatrixSimple (2282 ms)
[ RUN      ] SFM.EmatrixDecomposeSimple
EmatrixSimple: calib: 
[500, 0, 180;
 0, 500, 120;
 0, 0, 1]
estimateFMatrixRANSAC : support: 4/8
F info:
F:
 1.49114e-05  4.51253e-05  -0.00793024
 3.86113e-05 -6.14418e-05  -0.00493426
 -0.00626226   0.00840091     0.937136
U:
-0.00846041    0.989178    0.146476
 -0.0052652   -0.146524    0.989193
    0.99995  0.00759775  0.00644787
s:
   0.937241
0.000123619
9.52549e-21
V:
-0.00668161   -0.311332    0.950278
 0.00896294    0.950242    0.311384
   0.999938  -0.0105978  0.00355869
estimateFMatrixRANSAC : best support: 4/8
U:
 0.571098   0.76431 -0.299462
-0.787338  0.613231 0.0636192
 0.232264  0.199445  0.951985
s:
    14.6097
    14.6097
2.10899e-16
V:
   0.18357  -0.967996  -0.171131
 -0.978352  -0.196832  0.0639074
-0.0955461   0.155695  -0.983173
R0:
  0.744372  -0.654492   0.132479
 -0.660456  -0.750863 0.00144397
 0.0985287 -0.0885716  -0.991185
R1:
-0.641877  0.616216  0.456367
 0.638682  0.758994 -0.126541
-0.424357  0.210249 -0.880748
t0:
-0.299462
0.0636192
 0.951985
decomposeEMatrix: count: 5
decomposeEMatrix: count: 0
decomposeEMatrix: count: 4
decomposeEMatrix: count: 0
best idx: 0
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.7443718174655065, -0.6544920600547248, 0.1324792085137126, -0.2994619860938589;
 -0.6604564324456713, -0.7508629807053152, 0.00144396934328233, 0.063619174105242;
 0.09852866691594656, -0.08857159551261644, -0.9911847326629457, 0.9519848315865583]
E: 
[-71.66676545052428, -80.03665379082926, 7.271828097724298;
 -83.30515132927484, 73.31196658729966, 19.2654379804358;
 -16.9768114535201, -30.07609062752181, 1]
E1: 
[-71.66676545052412, -80.03665379082909, 7.271828097724286;
 -83.30515132927466, 73.31196658729951, 19.26543798043576;
 -16.97681145352006, -30.07609062752174, 1]
E2: 
[-71.66676545052412, -80.03665379082909, 7.271828097724286;
 -83.30515132927466, 73.31196658729951, 19.26543798043576;
 -16.97681145352006, -30.07609062752174, 1]
RMS1: 1.12921e-13
RMS2: 1.12921e-13
RMS3: 0
[       OK ] SFM.EmatrixDecomposeSimple (2133 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, 5.68099e-17, 0.894427, 0.447214]
|X - X1| = 9.05762e-16
[       OK ] SFM.TriangulationSimple (0 ms)
[ RUN      ] SFM.FmatrixMatchFiltering
detecting points...
matching points...
filtering matches GMS...
Get total 4731 matches.
filtering matches F...
estimateFMatrixRANSAC : support: 34/16739
F info:
F:
-7.19598e-07  1.45033e-06  -0.00141994
-3.61021e-06  2.74213e-06  -0.00157524
  0.00541712  -0.00448189      2.81315
U:
-0.000504749     0.961369     0.275263
-0.000559956    -0.275263     0.961369
           1  0.000331115  0.000677263
s:
    2.81316
2.25942e-06
8.59531e-23
V:
 0.00192564    0.927514    0.373782
-0.00159319    -0.37378    0.927516
   0.999997 -0.00238156 0.000757939
estimateFMatrixRANSAC : support: 50/16739
F info:
F:
 9.58336e-07 -4.99043e-07 -0.000987548
 1.70665e-07 -1.01692e-06   0.00072996
 -0.00198549   0.00083003      2.24502
U:
-0.000439883    -0.103518    -0.994627
 0.000325145    -0.994628     0.103518
           1  0.000277863 -0.000471178
s:
    2.24502
1.53207e-06
2.67827e-23
V:
-0.000884396    -0.535644     0.844443
  0.00036972     0.844443     0.535645
           1  -0.00078593  0.000548784
estimateFMatrixRANSAC : support: 90/16739
F info:
F:
 1.76186e-06 -8.71323e-07 -0.000192592
 3.49231e-06  1.40057e-06  -0.00479144
 -0.00732223  -0.00170831      8.31441
U:
-2.31638e-05      0.90959    -0.415506
-0.000576281    -0.415506     -0.90959
           1 -0.000218379 -0.000533805
s:
    8.31442
2.01672e-06
2.80166e-22
V:
-0.000880666        0.868     0.496564
-0.000205463    -0.496564        0.868
           1  0.000662393   0.00061565
estimateFMatrixRANSAC : support: 246/16739
F info:
F:
-1.95051e-06  3.88312e-06  -0.00421089
-1.07363e-06  -8.9337e-07   0.00137732
  0.00261882 -0.000957185     0.464224
U:
-0.00907011    0.926638    0.375846
 0.00296667   -0.375835    0.926682
   0.999954  0.00952011 0.000659839
s:
   0.464254
2.40912e-05
1.17314e-21
V:
  0.0056407    0.976606    0.214963
-0.00206176   -0.214954    0.976622
   0.999982 -0.00595204 0.000801032
estimateFMatrixRANSAC : support: 290/16739
F info:
F:
-5.20855e-07 -4.02442e-06   0.00621892
 2.04741e-06  5.40829e-07  -0.00203107
 -0.00173034   0.00191996     -1.77072
U:
  0.00351206     -0.85327    -0.521457
 -0.00114702     0.521457    -0.853277
   -0.999993  -0.00359489 -0.000852667
s:
    1.77073
8.36315e-06
6.74347e-23
V:
0.000977184    0.924587     0.38097
-0.00108428   -0.380969    0.924587
   0.999999 -0.00131657 0.000630231
estimateFMatrixRANSAC : support: 589/16739
F info:
F:
 1.91469e-07  2.65818e-06  -0.00328009
-2.62065e-06 -3.36883e-07   0.00143529
  0.00298422 -0.000752054    -0.265158
U:
-0.0123675  -0.938238   0.345768
0.00541184   0.345727    0.93832
 -0.999909  0.0134759 0.00080182
s:
     0.2652
4.11555e-05
8.47848e-22
V:
 -0.0112517     0.95077    0.309694
 0.00283541   -0.309682    0.950836
   0.999933   0.0115767 0.000788635
estimateFMatrixRANSAC : support: 722/16739
F info:
F:
-3.05952e-07 -1.06617e-06  0.000619147
 3.74073e-07  3.77088e-07 -0.000260746
  0.00120591 -0.000489429     0.072724
U:
   0.0085106     -0.91381     0.406052
 -0.00358407     0.406037      0.91385
    0.999957   0.00923273 -0.000180456
s:
  0.0727387
1.20542e-05
1.90643e-22
V:
  0.0165779    0.959442    0.281418
-0.00672844   -0.281343    0.959584
    0.99984  -0.0178014  0.00179147
estimateFMatrixRANSAC : support: 757/16739
F info:
F:
-2.29924e-08 -2.74218e-07  0.000456468
-6.38057e-07 -5.44028e-08 -0.000901919
  0.00118228    0.0018954     -1.55184
U:
 0.000294145     0.238031    -0.971258
-0.000581191    -0.971257    -0.238031
          -1  0.000634502 -0.000147349
s:
    1.55184
1.81058e-06
2.04887e-23
V:
-0.000761857     0.753575    -0.657361
 -0.00122139      0.65736     0.753575
    0.999999   0.00137701  0.000419591
estimateFMatrixRANSAC : support: 1829/16739
F info:
F:
-6.61488e-09  4.58233e-07 -0.000772323
-3.81122e-07 -1.49666e-07   0.00208204
 0.000683276  -0.00165264    -0.362645
U:
  -0.0021296    -0.381506    -0.924364
  0.00574102     0.924346    -0.381512
   -0.999981   0.00611926 -0.000221751
s:
   0.362656
1.11079e-05
1.00396e-22
V:
-0.00188406    0.344923    0.938629
 0.00455695   -0.938618    0.344929
   0.999988  0.00492715 0.000196613
estimateFMatrixRANSAC : support: 3195/16739
F info:
F:
-8.45972e-09 -2.48082e-07  0.000275457
 9.99993e-08  1.98997e-08  -0.00166153
-5.07892e-05   0.00174264    -0.115694
U:
 0.00238014    0.154115     0.98805
 -0.0143566   -0.987946    0.154133
  -0.999894   0.0145519 0.000138898
s:
    0.11572
2.53176e-05
  1.786e-23
V:
0.000438839   -0.033146     0.99945
 -0.0150576    0.999337   0.0331488
   0.999887   0.0150638 6.05491e-05
estimateFMatrixRANSAC : support: 3956/16739
F info:
F:
 2.07356e-09 -9.28684e-08  0.000149411
-5.02396e-08  6.43113e-09  -0.00155089
 4.59623e-05   0.00164216    -0.101006
U:
  0.00147867    0.0922717    -0.995733
  -0.0153485    -0.995614   -0.0922836
   -0.999881    0.0154195 -5.59497e-05
s:
   0.101032
2.53211e-05
2.29562e-23
V:
-0.000454867    0.0299721     0.999551
   -0.016252     0.999419   -0.0299755
    0.999868    0.0162583 -3.25037e-05
estimateFMatrixRANSAC : support: 4061/16739
F info:
F:
 1.58099e-10 -7.29088e-08  9.86457e-05
-6.17823e-08  3.67473e-09  -0.00153607
 8.15265e-05   0.00163476    -0.103302
U:
0.000954594   0.0611074    0.998131
 -0.0148644    -0.99802   0.0611149
  -0.999889    0.014895 4.43784e-05
s:
   0.103326
 2.4378e-05
3.19953e-23
V:
-0.000788925    0.0523424     0.998629
  -0.0158196     0.998504   -0.0523483
    0.999875    0.0158392  -4.0291e-05
estimateFMatrixRANSAC : best support: 4061/16739
estimateFMatrixRANSAC : support: 3325/4731
F info:
F:
 4.03917e-09 -2.28999e-07   0.00036476
  2.7048e-08   1.9254e-08  -0.00194883
-8.08565e-05   0.00205269    -0.142393
U:
  0.00256088     0.176314    -0.984331
  -0.0136821    -0.984236    -0.176333
   -0.999903    0.0139193 -0.000108159
s:
   0.142422
2.85388e-05
1.10656e-23
V:
0.000567668  -0.0403441    0.999186
 -0.0144113    0.999082   0.0403481
   0.999896   0.0144225 1.42664e-05
estimateFMatrixRANSAC : support: 3883/4731
F info:
F:
-2.55443e-09  5.97742e-08 -0.000109235
 1.16506e-07  2.49136e-09   0.00182754
-0.000135432  -0.00196789     0.147253
U:
-0.000741635   -0.0572199     0.998361
   0.0124077     0.998284    0.0572247
    0.999923   -0.0124298  3.03975e-05
s:
   0.147278
2.45278e-05
1.22898e-23
V:
 -0.00091949    0.0733799     0.997304
  -0.0133607     0.997214   -0.0733856
     0.99991    0.0133922 -6.34785e-05
estimateFMatrixRANSAC : support: 4104/4731
F info:
F:
 2.38037e-09 -6.91368e-08  0.000122148
-9.33425e-08  -1.9297e-10  -0.00184537
 0.000101678     0.001972     -0.13121
U:
 0.00093064   0.0635626    0.997977
 -0.0140597   -0.997878   0.0635694
  -0.999901   0.0140904 3.49946e-05
s:
   0.131238
2.78271e-05
3.00246e-24
V:
-0.000774671    0.0548378     0.998495
  -0.0150246     0.998382   -0.0548432
    0.999887    0.0150445    -5.05e-05
estimateFMatrixRANSAC : support: 4109/4731
F info:
F:
 2.38261e-09 -7.48915e-08  0.000127469
-9.09377e-08 -5.50443e-10  -0.00184664
 9.62503e-05   0.00197609    -0.131237
U:
 0.000970982    0.0661803    -0.997807
  -0.0140665    -0.997708   -0.0661874
   -0.999901    0.0140999 -3.78341e-05
s:
   0.131265
2.78991e-05
4.12839e-25
V:
-0.000733169    0.0519015     0.998652
  -0.0150527     0.998538   -0.0519067
    0.999886    0.0150705  -4.9163e-05
estimateFMatrixRANSAC : support: 4111/4731
F info:
F:
-2.25326e-09  7.46882e-08  -0.00012671
 8.85076e-08 -8.01736e-10   0.00184987
-9.46354e-05  -0.00197443     0.128229
U:
-0.000987823   -0.0657266    -0.997837
   0.0144213     0.997733    -0.065734
    0.999896   -0.0144551 -3.77193e-05
s:
   0.128258
2.85753e-05
3.49889e-24
V:
-0.000737766    0.0509676       0.9987
  -0.0153926     0.998581   -0.0509729
    0.999881    0.0154102 -4.78053e-05
estimateFMatrixRANSAC : support: 4112/4731
F info:
F:
-1.67267e-09  7.05136e-08  -0.00011297
 8.27257e-08   -2.442e-09   0.00185516
-8.90694e-05  -0.00197049     0.115597
U:
-0.000976877   -0.0585613    -0.998283
   0.0160417     0.998154   -0.0585694
    0.999871   -0.0160714 -3.56508e-05
s:
   0.115629
3.17028e-05
2.79109e-23
V:
-0.000770193    0.0477605     0.998859
  -0.0170393     0.998713   -0.0477667
    0.999855    0.0170566 -4.46043e-05
estimateFMatrixRANSAC : best support: 4112/4731
n matches gms: 4731
n matches F: 4061
n matches gms + F: 4112
[       OK ] SFM.FmatrixMatchFiltering (22103 ms)
[ RUN      ] SFM.RelativePosition2View
detecting points...
matching points...
filtering matches GMS...
Get total 4743 matches.
estimateFMatrixRANSAC : support: 753/4743
F info:
F:
-4.34775e-08  4.95588e-08 -0.000152419
-9.82348e-07 -2.43487e-07  -0.00075239
  0.00200346   0.00228096      -1.9884
U:
-7.66541e-05    -0.112501     0.993652
-0.000378388    -0.993652    -0.112501
          -1  0.000384609 -3.35985e-05
s:
     1.9884
2.07561e-06
3.04103e-24
V:
-0.00100757    0.843875   -0.536539
-0.00114713    0.536538    0.843875
   0.999999  0.00146575 0.000427431
estimateFMatrixRANSAC : support: 2327/4743
F info:
F:
 6.26073e-08   9.6351e-07  -0.00126763
-6.58648e-07  5.10006e-08   0.00212527
 0.000672601  -0.00268217     0.723961
U:
 -0.00175094    -0.426127    -0.904662
  0.00293555     0.904657    -0.426131
    0.999994  -0.00340181 -0.000333083
s:
    0.72397
9.23075e-06
1.79059e-23
V:
0.000929038   -0.315315    0.948987
-0.00370479    0.948979    0.315316
   0.999993  0.00380873 0.000286537
estimateFMatrixRANSAC : support: 3891/4743
F info:
F:
 -2.9021e-09  4.77382e-08 -9.60417e-05
 1.16714e-07  1.63191e-09   0.00182289
-0.000124263   -0.0019518     0.129131
U:
-0.000743516   -0.0508795    -0.998705
    0.014112     0.998605   -0.0508849
      0.9999   -0.0141315 -2.44694e-05
s:
   0.129158
2.76478e-05
1.17483e-23
V:
-0.000961985    0.0677348     0.997703
  -0.0151102     0.997588   -0.0677416
    0.999885    0.0151406 -6.38191e-05
estimateFMatrixRANSAC : support: 3933/4743
F info:
F:
 1.79185e-09 -1.03811e-07  0.000162421
-7.30343e-08  2.67681e-09  -0.00185529
 8.26034e-05    0.0019862    -0.143128
U:
  0.00113449    0.0832236     -0.99653
  -0.0129589    -0.996446   -0.0832313
   -0.999915    0.0130083 -5.19725e-05
s:
   0.143154
2.58539e-05
1.23434e-22
V:
 -0.00057697    0.0443824     0.999014
  -0.0138734     0.998918   -0.0443861
    0.999904    0.0138854 -3.93906e-05
estimateFMatrixRANSAC : support: 4002/4743
F info:
F:
 2.50835e-09 -8.59453e-08  0.000146485
-9.76414e-08 -1.74621e-10  -0.00183612
 0.000113195   0.00197687    -0.155466
U:
 0.000942021    0.0758726    -0.997117
  -0.0118077    -0.997047   -0.0758784
    -0.99993    0.0118452 -4.33567e-05
s:
   0.155489
2.34561e-05
8.46655e-24
V:
-0.000727932    0.0613212     0.998118
   -0.012713     0.998037   -0.0613255
    0.999919    0.0127337  -5.3072e-05
estimateFMatrixRANSAC : support: 4097/4743
F info:
F:
-2.05442e-09  6.75022e-08 -0.000111472
 8.89303e-08  1.10283e-09   0.00184133
-9.12013e-05  -0.00196556     0.117016
U:
-0.000952244   -0.0582477     0.998302
   0.0157292     0.998178    0.0582554
    0.999876    -0.015758  3.43168e-05
s:
   0.117048
3.10124e-05
2.43568e-24
V:
-0.000779073    0.0492073     0.998788
  -0.0167908     0.998647   -0.0492134
    0.999859    0.0168087 -4.82088e-05
estimateFMatrixRANSAC : support: 4100/4743
F info:
F:
-2.05304e-09  6.55213e-08 -0.000109442
 9.28783e-08  1.95524e-10   0.00183977
-9.79464e-05  -0.00196314     0.120114
U:
-0.000910809   -0.0572065    -0.998362
   0.0153109     0.998245   -0.0572137
    0.999882    -0.015338 -3.33268e-05
s:
   0.120144
3.01533e-05
4.07597e-24
V:
-0.000815132    0.0529007     0.998599
  -0.0163379     0.998466    -0.052907
    0.999866    0.0163582 -5.04074e-05
estimateFMatrixRANSAC : support: 4106/4743
F info:
F:
-2.20939e-09  6.00428e-08 -0.000106966
 8.96111e-08  1.60223e-09   0.00184004
-9.21392e-05  -0.00196152     0.117383
U:
-0.000910893   -0.0560805    -0.998426
   0.0156692     0.998303   -0.0560879
    0.999877   -0.0156957 -3.06079e-05
s:
   0.117414
3.08282e-05
 4.8553e-24
V:
-0.000784629     0.049817     0.998758
   -0.016704     0.998618   -0.0498231
     0.99986    0.0167223 -4.85967e-05
estimateFMatrixRANSAC : support: 4107/4743
F info:
F:
 2.28793e-09 -7.19606e-08  0.000122143
-8.92776e-08 -6.07086e-10  -0.00184193
 9.32339e-05   0.00196761    -0.124407
U:
0.00098146  0.0637038   0.997968
-0.0148004  -0.997859  0.0637114
  -0.99989  0.0148328 3.6518e-05
s:
   0.124436
 2.9222e-05
5.43771e-25
V:
-0.000749158    0.0503784      0.99873
  -0.0158104     0.998605   -0.0503839
    0.999875    0.0158281 -4.83913e-05
estimateFMatrixRANSAC : support: 4109/4743
F info:
F:
 -1.8742e-09  6.72832e-08 -0.000112502
  8.3524e-08 -1.56247e-09   0.00184785
-8.86052e-05  -0.00196269     0.114784
U:
-0.000979715   -0.0586468    -0.998278
   0.0160917     0.998149   -0.0586549
     0.99987   -0.0161215 -3.41755e-05
s:
   0.114816
3.16766e-05
9.73517e-24
V:
-0.000771603      0.04773      0.99886
   -0.017092     0.998714   -0.0477362
    0.999854    0.0171093 -4.51894e-05
estimateFMatrixRANSAC : support: 4110/4743
F info:
F:
 1.68237e-09 -7.75581e-08  0.000126526
-8.39554e-08  2.83889e-09  -0.00184823
 9.75189e-05   0.00196881    -0.130356
U:
  0.00097031     0.065538     -0.99785
  -0.0141736    -0.997749   -0.0655452
   -0.999899    0.0142067 -3.92142e-05
s:
   0.130384
2.80042e-05
8.47069e-23
V:
-0.000747851    0.0524672     0.998622
  -0.0150985     0.998508   -0.0524725
    0.999886     0.015117 -4.54428e-05
estimateFMatrixRANSAC : best support: 4110/4743
U:
 0.0310278  -0.120027  -0.992286
 -0.997577 -0.0655679 -0.0232621
  -0.06227   0.990603   -0.12177
s:
    5.84461
    5.84461
1.17077e-16
V:
 -0.131915 -0.0119861  -0.991189
 0.0700728  -0.997538 0.00273705
 -0.988781 -0.0690943    0.13243
R0:
   0.999747   0.0198248  -0.0105845
  0.0197495   -0.999779 -0.00717517
 -0.0107244  0.00696432   -0.999918
R1:
  0.967337 -0.0252567  -0.252232
 0.0263648   0.999652 0.00101396
  0.252119 -0.0076309   0.967666
t0:
 -0.992286
-0.0232621
  -0.12177
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 1
decomposeEMatrix: count: 4742
best idx: 3
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9673370475154057, -0.0252567138780663, -0.252232303459051, 0.9922856870546779;
 0.02636482710073046, 0.9996518732956566, 0.001013956820225038, 0.02326214218391788;
 0.2521188854412257, -0.007630899066701426, 0.9676661805515927, 0.1217702262765454]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9673370475154057, -0.0252567138780663, -0.252232303459051;
 0.02636482710073046, 0.9996518732956566, 0.001013956820225038;
 0.2521188854412257, -0.007630899066701426, 0.9676661805515927]
O1: [-0.9911885828927079, 0.002737047978262723, 0.1324299879616001]
relative_cos_vals: [0.967666, -0.13243, -0.378161]
exporting point cloud...
exporting 4747 points...
[       OK ] SFM.RelativePosition2View (10379 ms)
[ RUN      ] SFM.Resection
detecting points...
matching points...
filtering matches GMS...
Get total 4699 matches.
estimateFMatrixRANSAC : support: 39/4699
F info:
F:
-4.42178e-06 -1.65288e-06   0.00513463
 4.71105e-06  1.93328e-06  -0.00571669
 -0.00419792  -0.00252951      6.24686
U:
0.000821953    0.745103    0.666949
-0.00091513   -0.666949    0.745103
   0.999999 -0.00122279 0.000133666
s:
    6.24686
1.42356e-06
4.16645e-22
V:
-0.000672006    -0.915696      0.40187
-0.000404925     0.401871     0.915696
           1 -0.000452626  0.000640848
estimateFMatrixRANSAC : support: 118/4699
F info:
F:
-2.26222e-07  1.34896e-06  -0.00349435
 -1.7301e-06 -4.30281e-07   0.00233119
  0.00470038 -0.000372063     -2.16701
U:
-0.00161251   -0.919948    0.392037
 0.00107576    0.392036    0.919949
  -0.999998  0.00190516  0.00035748
s:
    2.16702
8.74534e-06
9.28902e-23
V:
-0.00216905    0.970213    0.242243
0.000171692   -0.242243    0.970216
   0.999998  0.00214603 0.000358859
estimateFMatrixRANSAC : support: 3803/4699
F info:
F:
 2.36067e-09 -6.12288e-08  0.000107561
-1.23916e-07  3.33161e-09  -0.00183137
 0.000148226    0.0019616    -0.144743
U:
  0.00074293    0.0561795     -0.99842
  -0.0126493     -0.99834   -0.0561844
    -0.99992     0.012671 -3.10689e-05
s:
   0.144768
2.49316e-05
 1.2794e-25
V:
 -0.00102379    0.0803003      0.99677
  -0.0135489     0.996678   -0.0803068
    0.999908    0.0135874 -6.75905e-05
estimateFMatrixRANSAC : support: 3930/4699
F info:
F:
 2.46439e-09 -7.93067e-08  0.000134897
-9.79401e-08   3.3273e-09  -0.00184892
 0.000109652   0.00197354    -0.135661
U:
  0.00099408    0.0698423    -0.997558
  -0.0136248    -0.997464   -0.0698494
   -0.999907     0.013661 -3.99691e-05
s:
   0.135688
2.70017e-05
 8.8082e-23
V:
-0.000808035    0.0591006     0.998252
  -0.0145434     0.998146   -0.0591061
    0.999894    0.0145657 -5.29854e-05
estimateFMatrixRANSAC : support: 3940/4699
F info:
F:
 -2.2827e-09  9.26018e-08  -0.00015174
 8.83216e-08 -6.14606e-09   0.00185822
-9.93801e-05  -0.00197948     0.137696
U:
-0.00110167  -0.0779643    0.996956
   0.013491    0.996864   0.0779721
   0.999908  -0.0135358 4.63963e-05
s:
   0.137723
2.68217e-05
8.41262e-22
V:
-0.000721518    0.0534424     0.998571
  -0.0143716     0.998467   -0.0534472
    0.999896    0.0143896 -4.76391e-05
estimateFMatrixRANSAC : support: 3946/4699
F info:
F:
-3.35818e-09    6.827e-08 -0.000128384
 1.14044e-07  5.72494e-09   0.00182583
-0.000124478  -0.00197828     0.157278
U:
-0.000816106   -0.0671688     0.997741
   0.0116063     0.997674    0.0671737
    0.999932   -0.0116349  3.46263e-05
s:
   0.157302
 2.3073e-05
6.82581e-23
V:
 -0.00079127    0.0677109     0.997705
  -0.0125755     0.997625   -0.0677155
    0.999921    0.0126002 -6.21059e-05
estimateFMatrixRANSAC : support: 4054/4699
F info:
F:
-3.04838e-09  7.97725e-08 -0.000139945
  9.9334e-08 -4.59249e-10   0.00184363
-0.000103785  -0.00197802     0.141792
U:
-0.000986702   -0.0726079     -0.99736
   0.0129987     0.997275   -0.0726146
    0.999915    -0.013036 -4.02061e-05
s:
   0.141818
2.58227e-05
3.23301e-24
V:
-0.000731743    0.0562383     0.998417
  -0.0139464      0.99832    -0.056243
    0.999902    0.0139655 -5.38083e-05
estimateFMatrixRANSAC : support: 4086/4699
F info:
F:
 1.99196e-09 -7.89358e-08  0.000130535
-8.66563e-08  1.94856e-09  -0.00185307
 9.70259e-05   0.00197704    -0.131413
U:
 0.00099301   0.0674549    0.997722
 -0.0140965   -0.997622   0.0674622
    -0.9999   0.0141314 3.97688e-05
s:
   0.131441
2.79723e-05
2.65866e-22
V:
-0.00073809   0.0521122    0.998641
 -0.0150398    0.998528  -0.0521174
   0.999887   0.0150579 -4.6755e-05
estimateFMatrixRANSAC : support: 4087/4699
F info:
F:
 -2.3528e-09  7.47967e-08 -0.000127833
 9.08684e-08 -2.58331e-10   0.00184833
-9.74064e-05   -0.0019761      0.13209
U:
-0.000967473   -0.0663038    -0.997799
   0.0139885     0.997701   -0.0663109
    0.999902   -0.0140218 -3.77587e-05
s:
   0.132118
2.77447e-05
1.80147e-24
V:
-0.000737189    0.0525013     0.998621
  -0.0149556     0.998509   -0.0525065
    0.999888    0.0149737 -4.91019e-05
estimateFMatrixRANSAC : support: 4088/4699
F info:
F:
-2.22385e-09  7.80477e-08 -0.000129418
 8.75713e-08 -1.30337e-09   0.00185182
-9.27355e-05  -0.00197696     0.128298
U:
 -0.00100839    -0.066996    -0.997753
   0.0144289     0.997648   -0.0670036
    0.999895    -0.014464 -3.93457e-05
s:
   0.128326
2.86274e-05
 4.9684e-23
V:
-0.000722567    0.0499117     0.998753
  -0.0154041     0.998635   -0.0499169
    0.999881     0.015421 -4.72654e-05
estimateFMatrixRANSAC : support: 4090/4699
F info:
F:
 1.76132e-09 -7.35209e-08   0.00011859
-8.00861e-08  2.90507e-09  -0.00185885
 8.51154e-05    0.0019722    -0.114016
U:
 0.00103967   0.0613914    0.998113
 -0.0162964    -0.99798   0.0614002
  -0.999867   0.0163295 3.71179e-05
s:
   0.114048
3.22359e-05
2.50762e-22
V:
-0.000746198    0.0455989      0.99896
  -0.0172903      0.99881    -0.045605
     0.99985    0.0173064 -4.31101e-05
estimateFMatrixRANSAC : best support: 4090/4699
U:
0.0988901 0.0627257  0.993119
-0.679494  0.733371 0.0213408
-0.726986 -0.676929  0.115145
s:
    5.86125
    5.86125
8.87935e-17
V:
-0.0861954  0.0917861   0.992041
  0.736553   0.676379 0.00141654
 -0.670866   0.730813  -0.125906
R0:
   0.970732  -0.0192796    -0.23939
  0.0203258    0.999792  0.00190212
   0.239304 -0.00671226    0.970922
R1:
  0.999699  0.0220932  -0.010689
 0.0220161  -0.999731  -0.007276
-0.0108469 0.00703848  -0.999916
t0:
 0.993119
0.0213408
 0.115145
decomposeEMatrix: count: 4692
decomposeEMatrix: count: 7
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
best idx: 0
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9707319759788705, -0.0192796158384113, -0.2393903240009523, 0.9931194463176216;
 0.02032584529527248, 0.9997915992537477, 0.001902123725082714, 0.02134082926500797;
 0.2393037626640883, -0.006712263013034482, 0.9709215491995493, 0.1151448407531254]
Camera positions: 
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9707319759788705, -0.0192796158384113, -0.2393903240009523;
 0.02032584529527248, 0.9997915992537477, 0.001902123725082714;
 0.2393037626640883, -0.006712263013034482, 0.9709215491995493]
O1: [-0.9920411665446403, -0.001416537957875079, 0.125905985961604]
estimateCameraMatrixRANSAC : support: 98/4699
estimateCameraMatrixRANSAC : support: 1016/4699
estimateCameraMatrixRANSAC : support: 1194/4699
estimateCameraMatrixRANSAC : support: 3366/4699
estimateCameraMatrixRANSAC : support: 3860/4699
estimateCameraMatrixRANSAC : support: 4112/4699
estimateCameraMatrixRANSAC : best support: 4112/4699
estimateCameraMatrixRANSAC : support: 182/4699
estimateCameraMatrixRANSAC : support: 3323/4699
estimateCameraMatrixRANSAC : support: 3852/4699
estimateCameraMatrixRANSAC : support: 4119/4699
estimateCameraMatrixRANSAC : support: 4126/4699
estimateCameraMatrixRANSAC : best support: 4126/4699
[       OK ] SFM.Resection (10810 ms)
[ RUN      ] SFM.ReconstructNViews
detecting points...
matching points...
flann matching...
filtering matches GMS...
Get total 4751 matches.
flann matching...
filtering matches GMS...
Get total 2126 matches.
flann matching...
filtering matches GMS...
Get total 4510 matches.
flann matching...
filtering matches GMS...
Get total 4851 matches.
flann matching...
filtering matches GMS...
Get total 2326 matches.
flann matching...
filtering matches GMS...
Get total 5077 matches.
estimateFMatrixRANSAC : support: 2408/4751
F info:
F:
-3.57065e-08  3.55549e-07 -0.000813791
-5.54342e-07 -9.08124e-08  -0.00129454
  0.00116446   0.00174352    -0.418878
U:
-0.00194273   -0.484145   -0.874986
 -0.0030904    -0.87498    0.484149
  -0.999993  0.00364462 0.000203649
s:
   0.418886
7.85746e-06
8.86821e-23
V:
-0.00277988    0.604056   -0.796937
-0.00416226    0.796926    0.604063
   0.999987  0.00499628 0.000298885
estimateFMatrixRANSAC : support: 2914/4751
F info:
F:
 1.32639e-08  1.87934e-07 -0.000160414
 5.02165e-09   5.7916e-08   0.00171563
 -0.00014915  -0.00210287      0.40485
U:
-0.000396219   -0.0717582     0.997422
  0.00423754     0.997413    0.0717592
    0.999991  -0.00425505  9.11163e-05
s:
   0.404859
9.01486e-06
 7.9023e-25
V:
-0.000368398    0.0708495     0.997487
 -0.00519403     0.997473   -0.0708505
    0.999986   0.00520708 -5.27887e-07
estimateFMatrixRANSAC : support: 3969/4751
F info:
F:
-1.27488e-09  8.07857e-08 -0.000124574
 7.10219e-08 -1.46395e-09   0.00179922
-8.18068e-05   -0.0019144     0.116894
U:
  -0.0010653    -0.066344    -0.997796
    0.015386     0.997678   -0.0663525
    0.999881   -0.0154228 -4.20553e-05
s:
   0.116923
2.95525e-05
5.09843e-22
V:
-0.000699569    0.0450935     0.998983
  -0.0163712     0.998848    -0.045099
    0.999866     0.016386 -3.94702e-05
estimateFMatrixRANSAC : support: 4113/4751
F info:
F:
-2.04077e-09  8.93853e-08  -0.00014519
 8.06236e-08 -3.35739e-09   0.00179568
-9.03505e-05  -0.00191677     0.132666
U:
 -0.00109408    -0.077181    -0.997016
   0.0135312     0.996925   -0.0771887
    0.999908   -0.0135753 -4.63589e-05
s:
   0.132692
 2.6046e-05
4.44887e-22
V:
-0.000680831     0.050183      0.99874
  -0.0144439     0.998635   -0.0501876
    0.999895    0.0144599  -4.4936e-05
estimateFMatrixRANSAC : support: 4119/4751
F info:
F:
-2.18418e-09  7.89123e-08 -0.000131408
 8.88296e-08 -2.41229e-09   0.00178938
-9.88556e-05   -0.0019107      0.12968
U:
 -0.00101301   -0.0702697    -0.997528
   0.0137941     0.997432   -0.0702769
    0.999904   -0.0138311 -4.11094e-05
s:
   0.129707
2.64622e-05
2.77312e-23
V:
-0.000762064    0.0550235     0.998485
  -0.0147295     0.998376   -0.0550287
    0.999891    0.0147491 -4.96417e-05
estimateFMatrixRANSAC : support: 4150/4751
F info:
F:
 2.26815e-09 -7.82504e-08  0.000130873
 -8.6232e-08   3.7292e-09  -0.00179196
 9.25683e-05   0.00190944    -0.126596
U:
 0.00103346   0.0699683    0.997549
 -0.0141504   -0.997448    0.069976
  -0.999899    0.014188 4.07438e-05
s:
   0.126623
2.71211e-05
8.29075e-23
V:
-0.000730973     0.051603     0.998667
  -0.0150782     0.998554   -0.0516081
    0.999886    0.0150958 -4.81649e-05
estimateFMatrixRANSAC : support: 4167/4751
F info:
F:
-2.05661e-09  6.70901e-08  -0.00011638
  7.7175e-08 -1.40079e-09   0.00179642
-7.90063e-05    -0.001904     0.107722
U:
 -0.0010799   -0.062542    0.998042
   0.016669    0.997903   0.0625513
    0.99986  -0.0167039 3.51214e-05
s:
   0.107753
3.18342e-05
2.54717e-23
V:
  -0.0007331    0.0438791     0.999037
  -0.0176675      0.99888   -0.0438852
    0.999844    0.0176826 -4.29532e-05
estimateFMatrixRANSAC : support: 4171/4751
F info:
F:
-2.40021e-09  6.95329e-08  -0.00012105
 9.11652e-08  9.90636e-10   0.00178391
-9.73136e-05  -0.00190848     0.127256
U:
-0.000950935   -0.0651098    -0.997878
   0.0140138     0.997779   -0.0651168
    0.999901   -0.0140459 -3.63902e-05
s:
   0.127283
2.68454e-05
2.95199e-24
V:
 -0.00076446    0.0543101     0.998524
  -0.0149925     0.998411   -0.0543155
    0.999887    0.0150119 -5.09984e-05
estimateFMatrixRANSAC : support: 4176/4751
F info:
F:
 -2.2832e-09  6.81283e-08 -0.000117984
  8.9263e-08  9.63407e-10   0.00178458
-9.50372e-05  -0.00190824     0.124302
U:
-0.00094886  -0.0634887    0.997982
  0.0143519    0.997879   0.0634958
   0.999897  -0.0143832 3.56621e-05
s:
    0.12433
2.74851e-05
1.20851e-23
V:
-0.000764307    0.0529799     0.998595
  -0.0153466     0.998477   -0.0529854
    0.999882    0.0153656 -4.99201e-05
estimateFMatrixRANSAC : support: 4177/4751
F info:
F:
 2.38005e-09 -6.91599e-08  0.000120791
 -8.8198e-08   4.7166e-10  -0.00178699
 9.27278e-05   0.00190719    -0.123312
U:
 0.000979226    0.0649488    -0.997888
  -0.0144866    -0.997783   -0.0649562
   -0.999895    0.0145196 -3.61702e-05
s:
    0.12334
 2.7727e-05
2.00983e-24
V:
-0.000751716    0.0517375      0.99866
  -0.0154612     0.998541   -0.0517429
     0.99988    0.0154794 -4.93032e-05
estimateFMatrixRANSAC : support: 4178/4751
F info:
F:
-2.13222e-09  6.51486e-08 -0.000112084
  9.0178e-08  8.88603e-10   0.00178331
-9.71068e-05  -0.00190705     0.124662
U:
-0.000898811   -0.0603448    -0.998177
   0.0143004     0.998075   -0.0603515
    0.999897   -0.0143285 -3.41278e-05
s:
   0.124689
2.73655e-05
3.16656e-24
V:
  -0.0007787    0.0541386     0.998533
  -0.0152928     0.998416   -0.0541442
    0.999883    0.0153126 -5.04666e-05
estimateFMatrixRANSAC : support: 4179/4751
F info:
F:
-1.66106e-09  7.47863e-08 -0.000119672
 7.89711e-08 -3.57057e-09   0.00179639
-8.70251e-05   -0.0019079     0.115874
U:
-0.00103239  -0.0639579    0.997952
  0.0154969    0.997832   0.0639662
   0.999879  -0.0155312 3.89982e-05
s:
   0.115903
2.96622e-05
2.44461e-22
V:
-0.000750741    0.0482267     0.998836
  -0.0164592     0.998701   -0.0482325
    0.999864    0.0164762 -4.40058e-05
estimateFMatrixRANSAC : best support: 4179/4751
U:
 -0.120207 -0.0262633   0.992401
  0.382481  -0.923704  0.0218838
  0.916111   0.382205   0.121081
s:
     5.6679
     5.6679
5.56574e-20
V:
  -0.0483651     0.118959     0.991721
    0.925863     0.377858 -0.000171434
    -0.37475     0.918189    -0.128415
R0:
   0.999755    0.020935 -0.00722345
  0.0208783   -0.999751 -0.00784163
-0.00738581  0.00768889   -0.999943
R1:
   0.968615  -0.0212753   -0.247654
  0.0225269    0.999744  0.00222123
   0.247543 -0.00773041    0.968846
t0:
 0.992401
0.0218838
 0.121081
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 4749
decomposeEMatrix: count: 2
best idx: 2
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9686149021014304, -0.02127528783702098, -0.2476540602422818, 0.9924013451817032;
 0.02252694327916996, 0.9997437686556331, 0.002221229553203759, 0.02188380421938463;
 0.2475433462113917, -0.00773040501415541, 0.9688459798052446, 0.1210812503835051]
estimateCameraMatrixRANSAC : support: 3/3854
estimateCameraMatrixRANSAC : support: 132/3854
estimateCameraMatrixRANSAC : support: 698/3854
estimateCameraMatrixRANSAC : support: 1473/3854
estimateCameraMatrixRANSAC : support: 2419/3854
estimateCameraMatrixRANSAC : best support: 2419/3854
relative_cos_vals: [0.968846, -0.128415, -0.370018]
relative_cos_vals: [0.974856, -0.504607, -0.683876]
exporting 8129 points...
[       OK ] SFM.ReconstructNViews (12666 ms)
[----------] 9 tests from SFM (62994 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test suite ran. (62994 ms total)
[  PASSED  ] 9 tests.
0s
0s
1s
0s

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

simiyutin · 2026-05-30T20:32:09Z

Как реализовать выравнивание если мы все же хотим использовать Е матрицу?
Найти E для пары камера0 камера2, разложить её, получить P2 относительно камера0. Но нужно ещё выровнять масштаб, потому что он теряется при разложении E. Поэтому нужно совместить с уже известными 3д точками.

NikonFlex · 2026-05-30T21:44:22Z

Мне нужно подумать над другим ответом на этот вопрос, т.к. этот неправильный? Не очень понял что значит ваш комментарий, там просто мой текст вставлен и все

simiyutin · 2026-06-01T20:59:38Z

Мне нужно подумать над другим ответом на этот вопрос, т.к. этот неправильный? Не очень понял что значит ваш комментарий, там просто мой текст вставлен и все

как у меня нет вопроса так у вас нет ответа)

NikonFlex · 2026-06-01T22:19:08Z

Извините, но я все еще не понимаю чем не ответ)))

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

Найти E для пары камера0 камера2, разложить её, получить P2 относительно камера0. Но нужно ещё выровнять масштаб, потому что он теряется при разложении E. Поэтому нужно совместить с уже известными 3д точками.

simiyutin · 2026-06-02T06:34:39Z

второй ответ тоже куда-то пропал, даже если коммент на редактировании смотреть то его не было

simiyutin · 2026-06-02T06:35:21Z

задача зачтена, 8/10 баллов

simiyutin and others added 6 commits March 10, 2026 22:48

opencl matching can be slower on server

a56074e

Update README for bonus points criteria

9d8dda1

task01 done

6ca3310

done

21c8190

Merge upstream/task03 — Structure from Motion

549b713

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

task 03 done

b26c607

simiyutin closed this Jun 2, 2026

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Task03 Никон Парвицкий ITMO #145

Task03 Никон Парвицкий ITMO #145
NikonFlex wants to merge 6 commits into
PhotogrammetryCourse:task03from
NikonFlex:task03

NikonFlex commented May 30, 2026

Uh oh!

simiyutin commented May 30, 2026

Uh oh!

NikonFlex commented May 30, 2026

Uh oh!

simiyutin commented Jun 1, 2026

Uh oh!

NikonFlex commented Jun 1, 2026 •

edited

Loading

Uh oh!

simiyutin commented Jun 2, 2026 •

edited

Loading

Uh oh!

simiyutin commented Jun 2, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

Conversation

NikonFlex commented May 30, 2026

Uh oh!

simiyutin commented May 30, 2026

Uh oh!

NikonFlex commented May 30, 2026

Uh oh!

simiyutin commented Jun 1, 2026

Uh oh!

NikonFlex commented Jun 1, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

simiyutin commented Jun 2, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

simiyutin commented Jun 2, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

NikonFlex commented Jun 1, 2026 •

edited

Loading

simiyutin commented Jun 2, 2026 •

edited

Loading