两张图片的平移实验 (SLAM translate epipolar geometry)

 

 Camera :IPHONE 4

Res: 1920*1200

Image coordinate:

          left upper corner:(0,0)

          right lower corner:(1920,1200)

Experiment Data:

In First Image, the near point A(848,698), the far point B(895,955);

In Second Image, the near point A'(472,705), the far point B'(730,958).

delta A=(-376,7);

delta B=(-165,3);

Along Y axis, it changes a little. (no change. 7 or 3, compared to 1920*1200, actually is Zero.)

Along X axis, it changes 1:2=165:376.

Because I preset the two X placed as below:

X----X----Camera:   distance is: 1:1

So in image coordinate, the changes are 1:2.

Translation succeeds. :)

原文地址:https://www.cnblogs.com/stevenxiu/p/5640648.html