Task03 Кирилл Доровских СПбГУ by kerelGusb · Pull Request #153 · PhotogrammetryCourse/PhotogrammetryTasks2026

kerelGusb · 2026-06-02T17:20:16Z

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?

Основная причина - разница масштабов. При построении облака точек для первых двух камер мы получили его с каким-то относительным размером. А если бы мы считали E матрицу для второй пары камер, то могли бы получить масштаб, совсем не соотносящийся с первым. Если же мы используем резекцию, то такой проблемы не будет.

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

Хотим как-то связать два облака точек друг с другом с максимальной возможной точностью. Как вариант, можем рассматривать второе облако как первое после преобразования подобия, после чего по точкам найти матрицу этого самого преобразования, и согласно ей выровнять камеру.

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 /home/kerelGusb/Studies/photogrammetry/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: 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 (2133 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 (2188 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: 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:
[0.2919675818459775, 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 (2186 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: 983/16740
F info:
F:
-8.13704e-09  1.38581e-07 -0.000203654
-1.95786e-07 -1.39974e-07  -0.00121156
 0.000214319   0.00169333    -0.308818
U:
-0.000659441    -0.142717     0.989763
 -0.00392305    -0.989756    -0.142718
   -0.999992   0.00397701 -9.27988e-05
s:
   0.308825
6.93283e-06
 1.1449e-22
V:
-0.000693973     0.151062     0.988524
  -0.0054831     0.988509    -0.151064
    0.999985   0.00552501 -0.000142291
estimateFMatrixRANSAC : support: 1192/16740
F info:
F:
-8.50909e-08  2.42142e-06  -0.00446281
-2.42532e-06 -1.87756e-07   0.00199346
  0.00465731  -0.00159885    -0.170109
U:
 -0.0262021   -0.919448   -0.392337
  0.0117045    0.392163   -0.919821
  -0.999588   0.0286933 -0.00048617
s:
   0.170251
0.000141291
1.04343e-21
V:
 -0.0273445    0.939629    0.341102
 0.00938689   -0.340973    0.940026
   0.999582   0.0289064 0.000503534
estimateFMatrixRANSAC : support: 2627/16740
F info:
F:
-8.65331e-09 -3.78531e-07  0.000498432
 2.29132e-07   1.4672e-08  -0.00174192
-0.000262727   0.00183283    -0.119869
U:
  0.00415672     0.262501    -0.964923
  -0.0145267    -0.964813    -0.262534
   -0.999886    0.0151084 -0.000197182
s:
   0.119897
2.78979e-05
1.67334e-22
V:
 0.00219099   -0.150288     0.98864
  -0.015285    0.988522    0.150304
   0.999881   0.0154406 0.000131312
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 : support: 3008/16740
F info:
F:
-3.69038e-09  1.04639e-07 -0.000169766
-2.41041e-07 -6.30259e-09  -0.00137636
 0.000349549   0.00150447    -0.126976
U:
-0.00133672   -0.116084   -0.993238
 -0.0108373   -0.993179    0.116092
   -0.99994   0.0109192 6.95684e-05
s:
   0.126993
1.69165e-05
1.03046e-22
V:
-0.00275231    0.239801    0.970818
 -0.0118461    0.970746   -0.239817
   0.999926   0.0121605 -0.00016892
estimateFMatrixRANSAC : support: 3488/16740
F info:
F:
  1.4172e-09 -1.71891e-07  0.000267779
-9.83926e-09  3.30369e-08  -0.00161889
 1.61139e-06   0.00164891   -0.0773666
U:
 0.00345887    0.158512    0.987351
 -0.0209107    -0.98713    0.158549
  -0.999775   0.0211946 9.97501e-05
s:
  0.0774016
3.48962e-05
1.01542e-22
V:
-2.08111e-05   0.00126346     0.999999
  -0.0212986     0.999772  -0.00126362
    0.999773    0.0212986 -6.10356e-06
estimateFMatrixRANSAC : support: 4420/16740
F info:
F:
-1.57599e-09  6.96066e-08  -0.00011209
 6.27636e-08 -2.85305e-09   0.00153221
-6.66954e-05  -0.00162598    0.0964241
U:
   -0.001162   -0.0702853    -0.997526
   0.0158838       0.9974   -0.0702949
    0.999873   -0.0159262 -4.25797e-05
s:
  0.0964501
2.59161e-05
6.50463e-23
V:
-0.000691403     0.043406     0.999057
  -0.0168562     0.998915   -0.0434115
    0.999858    0.0168703  -4.1005e-05
estimateFMatrixRANSAC : best support: 4420/16740
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: 4151/4728
F info:
F:
-2.00635e-09  7.10128e-08 -0.000118383
 8.71007e-08 -1.70348e-09   0.00178125
-9.53125e-05  -0.00189981     0.123418
U:
-0.000958887    -0.063738    -0.997966
   0.0144277     0.997862   -0.0637452
    0.999895   -0.0144594 -3.72458e-05
s:
   0.123446
2.75063e-05
1.68842e-23
V:
 -0.00077201    0.0532682      0.99858
  -0.0153882     0.998461   -0.0532738
    0.999881    0.0154075 -4.88803e-05
estimateFMatrixRANSAC : support: 4152/4728
F info:
F:
 2.23188e-09 -7.00599e-08  0.000119393
-8.85194e-08   1.1291e-09  -0.00177958
 9.44478e-05   0.00189984    -0.124225
U:
0.000960782   0.0643781    0.997925
 -0.0143205   -0.997822   0.0643852
  -0.999897   0.0143527  3.6762e-05
s:
   0.124253
2.73036e-05
2.90096e-24
V:
-0.000760037    0.0528887       0.9986
  -0.0152885     0.998483   -0.0528941
    0.999883    0.0153073 -4.97058e-05
estimateFMatrixRANSAC : support: 4153/4728
F info:
F:
 1.94405e-09 -7.16064e-08  0.000119229
-8.17763e-08  2.05616e-09  -0.00178505
 8.80799e-05       0.0019    -0.118746
U:
   0.0010037    0.0641501     -0.99794
   -0.015027    -0.997827   -0.0641579
   -0.999887    0.0150604 -3.75404e-05
s:
   0.118775
2.86465e-05
1.22597e-22
V:
-0.000741477    0.0491593     0.998791
  -0.0159949     0.998663   -0.0491649
    0.999872     0.016012  -4.5813e-05
estimateFMatrixRANSAC : support: 4154/4728
F info:
F:
-2.05952e-09  7.11703e-08 -0.000119381
 8.47626e-08 -1.91277e-09   0.00178301
-9.09254e-05  -0.00189971     0.121046
U:
-0.000985898   -0.0642748    -0.997932
   0.0147247     0.997823   -0.0642824
    0.999891   -0.0147577 -3.73216e-05
s:
   0.121074
2.80685e-05
4.48597e-23
V:
-0.000750896    0.0508241     0.998707
  -0.0156887     0.998584   -0.0508296
    0.999877    0.0157066 -4.75321e-05
estimateFMatrixRANSAC : best support: 4154/4728
n matches gms: 4728
n matches F: 4422
n matches gms + F: 4154
[       OK ] SFM.FmatrixMatchFiltering (48014 ms)
[ RUN      ] SFM.RelativePosition2View
detecting points...
matching points...
filtering matches GMS...
Get total 4728 matches.
estimateFMatrixRANSAC : support: 1077/4728
F info:
F:
-2.01065e-07  2.51795e-06  -0.00482911
-2.66887e-06  -2.4112e-07   0.00322235
  0.00555454  -0.00251819    -0.666846
U:
-0.00724083   -0.858242    0.513193
 0.00483167    0.513171    0.858273
  -0.999962  0.00869419 0.000430963
s:
   0.666899
5.29413e-05
5.74627e-22
V:
-0.00832861    0.889573    0.456716
  0.0037758   -0.456701    0.889612
   0.999958   0.0091337 0.000444836
estimateFMatrixRANSAC : support: 2378/4728
F info:
F:
 1.47108e-09  1.96124e-07 -0.000257881
 4.59582e-08 -1.18054e-08   0.00190919
-7.68643e-05  -0.00206972     0.198871
U:
 -0.00129654      -0.1243    -0.992244
  0.00959864     0.992197    -0.124306
    0.999953  -0.00968536 -9.33146e-05
s:
   0.198891
2.00266e-05
9.24691e-24
V:
-0.000386445    0.0394414     0.999222
  -0.0104058     0.999168   -0.0394433
    0.999946     0.010413 -2.42973e-05
estimateFMatrixRANSAC : support: 3608/4728
F info:
F:
-5.02541e-09  9.07351e-08 -0.000171897
 1.21603e-07  1.02605e-09   0.00184977
-0.000126897  -0.00200895     0.180995
U:
-0.00094957  -0.0881556    0.996106
  0.0102182    0.996054   0.0881607
   0.999947  -0.0102621 4.50346e-05
s:
   0.181016
2.06595e-05
2.15807e-24
V:
-0.000700981     0.068917     0.997622
  -0.0110976      0.99756   -0.0689206
    0.999938    0.0111195  -6.5545e-05
estimateFMatrixRANSAC : support: 3902/4728
F info:
F:
-1.80984e-09  1.23853e-07 -0.000191147
 6.22416e-08 -5.36873e-09   0.00189585
-6.85102e-05  -0.00202586     0.147389
U:
 -0.00129654   -0.0956415    -0.995415
   0.0128593     0.995332   -0.0956503
    0.999916   -0.0129244 -6.06024e-05
s:
   0.147416
2.61854e-05
1.21671e-22
V:
-0.000464698    0.0361872     0.999345
  -0.0137413      0.99925   -0.0361902
    0.999905    0.0137492 -3.29115e-05
estimateFMatrixRANSAC : support: 4042/4728
F info:
F:
-2.68699e-09  7.63348e-08 -0.000131697
 8.99762e-08 -4.19902e-10    0.0018722
-8.92792e-05  -0.00199924     0.127948
U:
-0.00102895  -0.0675726    0.997714
  0.0146273    0.997607   0.0675805
   0.999892  -0.0146634 3.80804e-05
s:
   0.127977
2.93471e-05
3.66577e-23
V:
-0.000697531    0.0476736     0.998863
  -0.0156201     0.998741   -0.0476787
    0.999878    0.0156356 -4.80152e-05
estimateFMatrixRANSAC : support: 4093/4728
F info:
F:
 -2.7227e-09  7.04408e-08 -0.000125602
 9.81969e-08 -1.43821e-10   0.00186655
-0.000103076  -0.00199552     0.133014
U:
-0.000943973   -0.0646331     0.997909
   0.0140282      0.99781      0.06464
    0.999901   -0.0140599   3.5221e-05
s:
   0.133043
2.80978e-05
7.18171e-25
V:
-0.000774673    0.0550716     0.998482
  -0.0149976     0.998369   -0.0550771
    0.999887    0.0150175 -5.25331e-05
estimateFMatrixRANSAC : support: 4094/4728
F info:
F:
 2.31149e-09 -7.60561e-08  0.000128492
-9.77083e-08 -1.19713e-09  -0.00186442
 0.000108824   0.00200186    -0.142257
U:
 0.000902986    0.0658662    -0.997828
  -0.0131023    -0.997742   -0.0658724
   -0.999914    0.0131333 -3.79496e-05
s:
   0.142284
2.63341e-05
3.14794e-24
V:
-0.000764762    0.0579801     0.998317
  -0.0140683     0.998218   -0.0579851
    0.999901     0.014089 -5.22813e-05
estimateFMatrixRANSAC : support: 4097/4728
F info:
F:
 2.44855e-09 -6.76603e-08  0.000121454
-9.41608e-08 -1.72614e-10  -0.00186894
 0.000101653   0.00199417    -0.129277
U:
0.00093917  0.0625088   0.998044
-0.0144518  -0.997939  0.0625159
 -0.999895  0.0144823 3.3868e-05
s:
   0.129306
 2.8922e-05
1.60209e-24
V:
-0.000786048    0.0541555     0.998532
  -0.0154205     0.998413   -0.0541612
    0.999881    0.0154404 -5.03031e-05
estimateFMatrixRANSAC : support: 4100/4728
F info:
F:
 1.84452e-09 -7.92196e-08  0.000128084
-8.89507e-08  7.25281e-10  -0.00187301
 0.000100825   0.00200141    -0.132992
U:
0.000962787   0.0654278    0.997857
  -0.014079   -0.997758   0.0654348
    -0.9999   0.0141118 3.94733e-05
s:
   0.133021
2.82813e-05
3.98861e-23
V:
-0.000757883    0.0534523      0.99857
  -0.0150444     0.998457   -0.0534577
    0.999887    0.0150634 -4.74437e-05
estimateFMatrixRANSAC : support: 4105/4728
F info:
F:
 1.86233e-09 -6.67958e-08  0.000111649
-8.70757e-08  3.02455e-10  -0.00187362
 9.38116e-05    0.0019939    -0.118614
U:
 0.000940906    0.0573672    -0.998353
  -0.0157896    -0.998228   -0.0573749
   -0.999875    0.0158175 -3.34361e-05
s:
   0.118645
 3.1578e-05
1.66724e-24
V:
-0.000790579    0.0497465     0.998762
  -0.0168035      0.99862   -0.0497527
    0.999858     0.016822  -4.6425e-05
estimateFMatrixRANSAC : support: 4106/4728
F info:
F:
 2.22792e-09 -7.18604e-08  0.000121102
-9.05166e-08  7.03014e-10  -0.00187223
 9.48093e-05   0.00199614    -0.124151
U:
 0.000975088    0.0621693    -0.998065
  -0.0150747    -0.997951   -0.0621769
   -0.999886    0.0151062 -3.59082e-05
s:
   0.124181
3.01912e-05
3.09962e-24
V:
-0.000763378    0.0504345     0.998727
  -0.0160726     0.998598   -0.0504402
    0.999871    0.0160906 -4.83042e-05
estimateFMatrixRANSAC : support: 4107/4728
F info:
F:
 -1.8688e-09  8.26849e-08 -0.000132597
 8.62472e-08 -2.30208e-09   0.00187639
-9.64533e-05  -0.00200214     0.132015
U:
 -0.00100409   -0.0676038    -0.997712
   0.0142087     0.997611   -0.0676112
    0.999899   -0.0142441 -4.11261e-05
s:
   0.132044
2.85514e-05
 9.7345e-22
V:
-0.000730382    0.0511379     0.998691
  -0.0151611     0.998576   -0.0511431
    0.999885    0.0151787 -4.59671e-05
estimateFMatrixRANSAC : support: 4108/4728
F info:
F:
 1.71098e-09 -6.99576e-08  0.000112028
-8.66336e-08  1.27158e-09  -0.00187417
 9.34412e-05   0.00199578    -0.120823
U:
 0.000926848    0.0574148     -0.99835
  -0.0155056     -0.99823   -0.0574223
   -0.999879    0.0155332 -3.49583e-05
s:
   0.120854
 3.1038e-05
4.74648e-24
V:
-0.000773067    0.0495528     0.998771
  -0.0165119     0.998635   -0.0495588
    0.999863      0.01653 -4.62018e-05
estimateFMatrixRANSAC : best support: 4108/4728
U:
  -0.02024   0.108225   -0.99392
  0.999786 0.00638922 -0.0196638
0.00422227  -0.994106  -0.108331
s:
    5.93287
    5.93287
1.16291e-17
V:
   -0.134515 -0.000445067    -0.990911
  0.00962663    -0.999953 -0.000857674
   -0.990865  -0.00965451     0.134513
R0:
    0.97032  -0.0183448   -0.241127
  0.0190706    0.999818 0.000676569
    0.24107 -0.00525491    0.970493
R1:
   0.999454   0.0200497  -0.0262633
  0.0198995   -0.999784 -0.00596662
 -0.0263773  0.00544074   -0.999637
t0:
  -0.99392
-0.0196638
 -0.108331
decomposeEMatrix: count: 7
decomposeEMatrix: count: 4721
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
best idx: 1
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9703202428692892, -0.01834475600092766, -0.2411267222962888, 0.9939203711333756;
 0.01907056416668891, 0.9998179113403506, 0.0006765688324650216, 0.01966375150169105;
 0.2410704043644706, -0.00525491106368999, 0.9704934034032711, 0.1083311253655823]
Camera positions:
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9703202428692892, -0.01834475600092766, -0.2411267222962888;
 0.01907056416668891, 0.9998179113403506, 0.0006765688324650216;
 0.2410704043644706, -0.00525491106368999, 0.9704934034032711]
O1: [-0.9909114829427811, -0.0008576738335175986, 0.134512814882956]
relative_cos_vals: [0.970493, -0.134513, -0.369478]
exporting point cloud...
exporting 4732 points...
[       OK ] SFM.RelativePosition2View (16380 ms)
[ RUN      ] SFM.Resection
detecting points...
matching points...
filtering matches GMS...
Get total 4747 matches.
estimateFMatrixRANSAC : support: 3007/4747
F info:
F:
-5.11859e-09 -3.87756e-07  0.000531105
 6.50093e-07  3.87117e-08   0.00147028
-0.000921507  -0.00173749     0.272614
U:
 0.00194807    0.303499    -0.95283
  0.0053929    0.952814    0.303505
   0.999984 -0.00572976 0.000219406
s:
   0.272626
1.15021e-05
3.30036e-22
V:
 -0.00338005     0.512764     0.858523
 -0.00637305     0.858499    -0.512775
    0.999974   0.00720461 -0.000366099
estimateFMatrixRANSAC : support: 4107/4747
F info:
F:
-2.37038e-09   6.9435e-08 -0.000122958
 9.27473e-08  3.85803e-10   0.00188812
-0.000100005   -0.0020154     0.131686
U:
-0.000933417   -0.0625886    -0.998039
   0.0143332     0.997936   -0.0625955
    0.999897   -0.0143635 -3.43966e-05
s:
   0.131715
2.89881e-05
1.65658e-24
V:
-0.000759165    0.0527502     0.998607
  -0.0152997      0.99849   -0.0527557
    0.999883    0.0153184 -4.90424e-05
estimateFMatrixRANSAC : support: 4108/4747
F info:
F:
  1.8261e-09 -7.64131e-08  0.000125653
-8.30124e-08  2.63785e-09  -0.00189757
 9.16406e-05   0.00201729    -0.125312
U:
 0.00100236   0.0635852    0.997976
 -0.0151371   -0.997861   0.0635931
  -0.999885   0.0151702 3.77192e-05
s:
   0.125343
3.06346e-05
1.18269e-22
V:
-0.000731026    0.0480879     0.998843
  -0.0160924     0.998713   -0.0480934
     0.99987    0.0161089  -4.3763e-05
estimateFMatrixRANSAC : support: 4109/4747
F info:
F:
-1.85089e-09  7.19831e-08 -0.000121894
 8.82084e-08 -9.51872e-10    0.0018932
 -0.00010129  -0.00201524     0.128312
U:
-0.000949647   -0.0618402    -0.998086
   0.0147494     0.997977   -0.0618474
    0.999891   -0.0147799 -3.56218e-05
s:
   0.128342
2.98254e-05
5.46225e-24
V:
-0.000789119     0.053149     0.998586
  -0.0157004     0.998463   -0.0531548
    0.999876    0.0157201 -4.65531e-05
estimateFMatrixRANSAC : best support: 4109/4747
U:
 0.0250022  -0.110097  -0.993606
 -0.999607 -0.0153268 -0.0234549
-0.0126465   0.993803  -0.110437
s:
    5.99255
    5.99255
1.10902e-17
V:
  -0.135444 -0.00470932   -0.990774
  0.0184863   -0.999827  0.00222518
  -0.990613  -0.0180143    0.135507
R0:
   0.999469   0.0207516  -0.0251268
  0.0206069    -0.99977 -0.00600265
 -0.0252456  0.00548167   -0.999666
R1:
    0.969409   -0.0251735    -0.244155
     0.02587     0.999665 -0.000353966
    0.244082  -0.00597316     0.969736
t0:
 -0.993606
-0.0234549
 -0.110437
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 6
decomposeEMatrix: count: 4741
best idx: 3
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9694093962722019, -0.02517348986147904, -0.2441551101807186, 0.9936062988785177;
 0.02587002005591544, 0.9996652523572499, -0.0003539658501083231, 0.02345486779424592;
 0.2440822903888591, -0.005973159776074926, 0.9697361274495334, 0.1104372763413161]
Camera positions:
R0:
[1, 0, 0;
 0, 1, 0;
 0, 0, 1]
O0: [0, 0, 0]
R1:
[0.9694093962722019, -0.02517348986147904, -0.2441551101807186;
 0.02587002005591544, 0.9996652523572499, -0.0003539658501083231;
 0.2440822903888591, -0.005973159776074926, 0.9697361274495334]
O1: [-0.9907738435820227, 0.002225181255400521, 0.1355073409158566]
estimateCameraMatrixRANSAC : support: 30/4747
estimateCameraMatrixRANSAC : support: 117/4747
estimateCameraMatrixRANSAC : support: 172/4747
estimateCameraMatrixRANSAC : support: 1107/4747
estimateCameraMatrixRANSAC : support: 2800/4747
estimateCameraMatrixRANSAC : support: 3992/4747
estimateCameraMatrixRANSAC : support: 4001/4747
estimateCameraMatrixRANSAC : support: 4019/4747
estimateCameraMatrixRANSAC : support: 4153/4747
estimateCameraMatrixRANSAC : support: 4156/4747
estimateCameraMatrixRANSAC : support: 4157/4747
estimateCameraMatrixRANSAC : support: 4160/4747
estimateCameraMatrixRANSAC : best support: 4160/4747
estimateCameraMatrixRANSAC : support: 472/4747
estimateCameraMatrixRANSAC : support: 551/4747
estimateCameraMatrixRANSAC : support: 3677/4747
estimateCameraMatrixRANSAC : support: 4153/4747
estimateCameraMatrixRANSAC : support: 4156/4747
estimateCameraMatrixRANSAC : best support: 4156/4747
[       OK ] SFM.Resection (42402 ms)
[ RUN      ] SFM.ReconstructNViews
detecting points...
matching points...
flann matching...
filtering matches GMS...
Get total 4790 matches.
flann matching...
filtering matches GMS...
Get total 2065 matches.
flann matching...
filtering matches GMS...
Get total 4480 matches.
flann matching...
filtering matches GMS...
Get total 4919 matches.
flann matching...
filtering matches GMS...
Get total 2323 matches.
flann matching...
filtering matches GMS...
Get total 5052 matches.
estimateFMatrixRANSAC : support: 189/4790
F info:
F:
3.68491e-07  -1.045e-07  0.00154497
3.84107e-07 1.37688e-07 0.000189063
-0.00244391 -0.00133443     1.43894
U:
  0.00107368     0.973337     0.229378
 0.000131389     0.229378    -0.973337
    0.999999  -0.00107519 -0.000118393
s:
    1.43895
 3.3637e-06
6.02307e-23
V:
  -0.0016984     0.914007    -0.405695
-0.000927364     0.405694     0.914008
    0.999998   0.00192858  0.000158585
estimateFMatrixRANSAC : support: 1740/4790
F info:
F:
 2.84589e-08 -1.81437e-07  0.000408681
-2.06806e-07  1.04436e-08  -0.00180899
 0.000173338   0.00199413    -0.261229
U:
 0.00156433    0.208263    0.978072
-0.00692435   -0.978047    0.208269
  -0.999975  0.00709831 8.78998e-05
s:
   0.261243
1.41805e-05
5.54309e-22
V:
 -0.00066349     0.101449     0.994841
 -0.00763305     0.994811    -0.101451
    0.999971   0.00766098 -0.000114317
estimateFMatrixRANSAC : support: 2479/4790
F info:
F:
  8.8968e-09  6.52293e-07 -0.000870192
-5.00893e-07 -1.02569e-08   0.00220248
 0.000643127  -0.00236936      0.20847
U:
-0.00417336   -0.346315    0.938109
  0.0105628     0.93805     0.34634
   0.999936  -0.0113545 0.000256766
s:
   0.208498
2.77796e-05
9.77175e-22
V:
 0.00308434   -0.279893    0.960026
 -0.0113632    0.959959     0.27991
   0.999931   0.0117723 0.000219635
estimateFMatrixRANSAC : support: 3931/4790
F info:
F:
 2.20723e-09 -8.31896e-08   0.00013767
-7.62353e-08  2.74302e-09  -0.00186392
 7.67538e-05   0.00198145    -0.121782
U:
  0.00113004    0.0709353     -0.99748
  -0.0152996    -0.997363   -0.0709443
   -0.999882    0.0153412 -4.17803e-05
s:
   0.121812
3.04191e-05
1.08086e-21
V:
-0.000630016    0.0412139      0.99915
  -0.0162645     0.999018   -0.0412187
    0.999868    0.0162767 -4.09263e-05
estimateFMatrixRANSAC : support: 3940/4790
F info:
F:
-1.53446e-09  1.11738e-07 -0.000171302
 6.40725e-08 -5.74158e-09   0.00187468
-7.28533e-05  -0.00199757     0.138376
U:
-0.00123758   -0.086927    0.996214
  0.0135436    0.996122   0.0869358
   0.999908     -0.0136 5.54751e-05
s:
   0.138403
2.71748e-05
 2.1012e-23
V:
-0.00052633   0.0388139    0.999246
 -0.0144317    0.999142  -0.0388175
   0.999896   0.0144412 -3.4271e-05
estimateFMatrixRANSAC : support: 4019/4790
F info:
F:
-2.17859e-09  5.52374e-08 -9.90029e-05
  9.7824e-08  2.18155e-09   0.00184225
-0.000102932  -0.00197032     0.125298
U:
-0.000789865    -0.051754      0.99866
   0.0146977     0.998551      0.05176
    0.999892   -0.0147189  2.80544e-05
s:
   0.125327
2.90488e-05
4.77593e-24
V:
 -0.00082121    0.0555221     0.998457
  -0.0157198     0.998333   -0.0555281
    0.999876    0.0157411 -5.29525e-05
estimateFMatrixRANSAC : support: 4035/4790
F info:
F:
-2.22841e-09  7.73156e-08 -0.000130582
   1.003e-07 -2.96769e-09   0.00184842
-0.000116765  -0.00197685      0.14286
U:
-0.000913808   -0.0674696    -0.997721
   0.0129351     0.997637   -0.0674758
    0.999916   -0.0129673   -3.892e-05
s:
   0.142886
2.56796e-05
6.79474e-24
V:
-0.000817112    0.0628647     0.998022
   -0.013834     0.997926     -0.06287
    0.999904     0.013858  -5.4256e-05
estimateFMatrixRANSAC : support: 4116/4790
F info:
F:
-3.07129e-09  7.45298e-08 -0.000134787
 9.87735e-08  1.67332e-09   0.00184447
-0.000102506  -0.00197973     0.139491
U:
-0.000966005   -0.0700455    -0.997543
    0.013219     0.997456   -0.0700522
    0.999912   -0.0132542 -3.76131e-05
s:
   0.139517
2.62794e-05
1.16913e-23
V:
-0.000734644    0.0554568     0.998461
  -0.0141887      0.99836   -0.0554616
    0.999899    0.0142076 -5.34185e-05
estimateFMatrixRANSAC : support: 4143/4790
F info:
F:
 2.33707e-09  -7.9145e-08  0.000133432
-9.00809e-08  7.96361e-10   -0.0018524
  9.7451e-05   0.00198095    -0.134368
U:
0.000992735   0.0689642    0.997619
 -0.0137817   -0.997523   0.0689714
  -0.999905   0.0138174 3.98303e-05
s:
   0.134395
2.74059e-05
9.09024e-23
V:
-0.000725029     0.052417     0.998625
  -0.0147383     0.998516    -0.052422
    0.999891     0.014756  -4.8585e-05
estimateFMatrixRANSAC : support: 4145/4790
F info:
F:
-1.76898e-09  8.13458e-08 -0.000129746
 8.30753e-08 -2.41973e-09   0.00185835
  -9.263e-05  -0.00198133       0.1287
U:
 -0.0010078  -0.0668232    0.997764
  0.0144344     0.99766   0.0668308
   0.999895  -0.0144695 4.08827e-05
s:
   0.128729
2.86998e-05
1.01135e-21
V:
-0.000719491     0.049593     0.998769
  -0.0153899     0.998651   -0.0495982
    0.999881    0.0154067 -4.47134e-05
estimateFMatrixRANSAC : support: 4146/4790
F info:
F:
 2.13765e-09 -7.28766e-08  0.000122588
-9.18228e-08 -2.76638e-10   -0.0018493
 0.000100607   0.00197887    -0.132944
U:
 0.000921816    0.0635054    -0.997981
   -0.013906    -0.997884   -0.0635121
   -0.999903    0.0139364 -3.67619e-05
s:
   0.132972
2.76176e-05
2.32396e-24
V:
-0.000756525    0.0540915     0.998536
  -0.0148805     0.998425   -0.0540967
    0.999889    0.0148996 -4.95718e-05
estimateFMatrixRANSAC : support: 4147/4790
F info:
F:
 2.05877e-09 -7.92961e-08  0.000130163
 -8.5918e-08  1.92113e-09  -0.00185639
 9.32311e-05   0.00197995    -0.128445
U:
 0.00101303   0.0671898     0.99774
 -0.0144478   -0.997635   0.0671974
  -0.999895   0.0144832 3.98939e-05
s:
   0.128474
 2.8708e-05
3.72797e-23
V:
-0.000725593    0.0500256     0.998748
  -0.0154096     0.998629   -0.0500308
    0.999881    0.0154266 -4.62762e-05
estimateFMatrixRANSAC : best support: 4147/4790
U:
-0.120672 0.0371565  0.991997
-0.107098 -0.993954 0.0242017
 0.986898  -0.10332  0.123922
s:
     5.8761
     5.8761
1.38347e-17
V:
  0.0144292    0.133947    0.990883
   0.993861   -0.110631 0.000482547
   0.109687    0.984794   -0.134722
R0:
   0.999653   0.0240569  -0.0107303
  0.0239846   -0.999689 -0.00681537
 -0.0108909  0.00655564   -0.999919
R1:
   0.966253  -0.0230995   -0.256556
  0.0239776    0.999712 0.000294381
   0.256476 -0.00643605    0.966529
t0:
 0.991997
0.0242017
 0.123922
decomposeEMatrix: count: 0
decomposeEMatrix: count: 0
decomposeEMatrix: count: 4788
decomposeEMatrix: count: 2
best idx: 2
P0:
[1, 0, 0, 0;
 0, 1, 0, 0;
 0, 0, 1, 0]
P1:
[0.9662532015759573, -0.02309953479204861, -0.2565563523606535, 0.9919967571964344;
 0.02397758466207676, 0.9997124530451298, 0.0002943811522698207, 0.02420173874223881;
 0.2564757802951105, -0.006436048390185566, 0.9665292294613417, 0.123922191530053]
estimateCameraMatrixRANSAC : support: 438/3909
estimateCameraMatrixRANSAC : support: 885/3909
estimateCameraMatrixRANSAC : support: 1036/3909
estimateCameraMatrixRANSAC : support: 2276/3909
estimateCameraMatrixRANSAC : support: 2671/3909
estimateCameraMatrixRANSAC : support: 2754/3909
estimateCameraMatrixRANSAC : best support: 2754/3909
relative_cos_vals: [0.966529, -0.134722, -0.38443]
relative_cos_vals: [0.972254, -0.535044, -0.717211]
exporting 8102 points...
[       OK ] SFM.ReconstructNViews (31753 ms)
[----------] 9 tests from SFM (145056 ms total)

[----------] Global test environment tear-down
[==========] 9 tests from 1 test suite ran. (145056 ms total)
[  PASSED  ] 9 tests.

simiyutin · 2026-06-04T15:41:32Z

задача зачтена, 7/10 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

lab done

0b347c1

Merge branch 'task01' into task02

ce6fd70

task02 done

9ded17c

task03 done

b400ab2

simiyutin closed this Jun 4, 2026

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Task03 Кирилл Доровских СПбГУ#153

Task03 Кирилл Доровских СПбГУ#153
kerelGusb wants to merge 6 commits into
PhotogrammetryCourse:task03from
kerelGusb:task03

kerelGusb commented Jun 2, 2026

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simiyutin commented Jun 4, 2026

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kerelGusb commented Jun 2, 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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simiyutin commented Jun 4, 2026

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