---- 6DoF pose of the camera ----
In img1:
X: 0.0 Y: 0.0 Z: 0.0
Roll: 0.0 Pitch: 0.0 Yaw: 0.0
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In img2:
X: 0.7393371168618282 Y: -0.005784429253495803 Z: 0.673310602923087
Roll: -0.06574093010442929 Pitch: 1.1065619737955403 Yaw: 0.04094146510104182
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In img3:
X: 0.42927793102125156 Y: -0.08611334735230611 Z: 1.620628166463927
Roll: -0.5889868810910622 Pitch: 12.658803713602088 Yaw: -0.35130074930551536
- Calibrating camera with given 2D-3D correspondences.
- Detecting keypoints in img1 to track among frames using FAST detector.
- Tracking keypoints from img1 to img2 via optical flow. Lost features are eliminated.
- Getting essential matrix using keypoints from two frames and camera intrinsics.
- Getting pose of camera in img2 w.r.t img1.
- Tracking keypoints from img2 to img3 via optical flow. Lost features are eliminated.
- Getting essential matrix using keypoints in two frames and camera intrinsics.
- Getting pose of camera in img3 w.r.t img1.
- Plot the bird-eye view camera trajectory and save results.
- Since the camera is looking towards to the z axis, yaw rotates the camera, pitch turns the camera to the left and right, and roll is up and down movement of the camera.
- I've got slightly different fx, fy values and 1.00038 re-projection error after calibration. I assume that's because of lack of data.