recoverPose_debug00.txt

output of the script - Yoshinari Kameda, 2013-12-06 06:24 pm

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--- answer is ---
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[ 11.  22.  33.]
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[[ 1.          0.          0.        ]
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 [ 0.          0.70710678 -0.70710678]
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 [ 0.          0.70710678  0.70710678]]
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--- cv2.decomposeEssentialMat() tells:





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R0





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[[-0.85714286  0.50507627  0.10101525]





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 [ 0.28571429  0.30304576  0.90913729]





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 [ 0.42857143  0.80812204 -0.40406102]]





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R1 ... right choice for [11,22,33],Rx=45[deg]





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[[  1.00000000e+00  -2.77555756e-16  -2.77555756e-17]





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 [  1.66533454e-16   7.07106781e-01  -7.07106781e-01]





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 [ -1.11022302e-16   7.07106781e-01   7.07106781e-01]]





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T ... why normalized?





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[[-0.26726124]





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 [-0.53452248]





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 [-0.80178373]]





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|tryT| =  1.0





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T by hack ... same as answerT





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[11.0, 21.999999999999996, 33.0]