tutorial 10 geometry review

Author: EliasNehme

assets/geom_M1.PNG

@@ -0,0 +1,23 @@
+%YAML:1.0
+M1: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.3480326845051309e+02, 0., 3.3568643204394891e+02, 0.,
+       5.3480326845051309e+02, 2.4066183054066337e+02, 0., 0., 1. ]
+D1: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.9589439552724328e-01, -1.0354662043042675e+00, 0., 0., 0. ]
+M2: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.3480326845051309e+02, 0., 3.3455744527912015e+02, 0.,
+       5.3480326845051309e+02, 2.4205324573376600e+02, 0., 0., 1. ]
+D2: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ -1.6916358306948096e-01, -1.1214173641213163e-01, 0., 0., 0. ]

assets/geom_M2.PNG

@@ -0,0 +1,75 @@
+%YAML:1.0
+---
+nframes: 13
+image_width: 640
+image_height: 480
+board_width: 9
+board_height: 6
+square_size: 2.5000000372529030e-02
+aspectRatio: 1.
+flags: 2
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 5.3591573396163199e+02, 0., 3.4228315473308373e+02, 0.,
+       5.3591573396163199e+02, 2.3557082909788173e+02, 0., 0., 1. ]
+distortion_coefficients: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [ -2.6637260909660682e-01, -3.8588898922304653e-02,
+       1.7831947042852964e-03, -2.8122100441115472e-04,
+       2.3839153080878486e-01 ]
+avg_reprojection_error: 3.9259098975581364e-01
+per_view_reprojection_errors: !!opencv-matrix
+   rows: 13
+   cols: 1
+   dt: f
+   data: [ 1.92965463e-01, 1.18204820e+00, 1.73180386e-01,
+       1.93417311e-01, 1.59574091e-01, 1.79683909e-01, 2.30989486e-01,
+       2.41952404e-01, 2.96267658e-01, 1.67184874e-01, 2.02002615e-01,
+       3.81039530e-01, 1.74401343e-01 ]
+extrinsic_parameters: !!opencv-matrix
+   rows: 13
+   cols: 6
+   dt: d
+   data: [ 1.6866673097722978e-01, 2.7567195383689680e-01,
+       1.3463666677617407e-02, -7.5217911266918208e-02,
+       -1.0895943925991841e-01, 3.9970206949907272e-01,
+       4.1331287656496363e-01, 6.4989015618432178e-01,
+       -1.3371537960145106e+00, -5.8571677080547203e-02,
+       8.2925805670236566e-02, 3.5381014833230601e-01,
+       -2.7703695013795054e-01, 1.8693309320100124e-01,
+       3.5485225341087834e-01, -3.9846501015652937e-02,
+       -1.0041611109510440e-01, 3.1815947023777164e-01,
+       -1.1090615673109079e-01, 2.3965970843402720e-01,
+       -2.1135637810781923e-03, -9.8410654744228568e-02,
+       -6.7330010965873974e-02, 3.3085237266887146e-01,
+       -2.9186914919266310e-01, 4.2838824536930098e-01,
+       1.3127376448141377e+00, 5.8492717894568363e-02,
+       -1.1531702553211766e-01, 3.1718597226747441e-01,
+       4.0775746983982769e-01, 3.0372749654555553e-01,
+       1.6490540383167107e+00, 1.6727077792571535e-01,
+       -6.5571043573575183e-02, 3.3646131272177648e-01,
+       1.7933504280050525e-01, 3.4558984092172601e-01,
+       1.8685292421609112e+00, 1.9533408668697443e-02,
+       -7.1821904367276174e-02, 3.8942937075181105e-01,
+       -9.0969163793927624e-02, 4.7978599772080688e-01,
+       1.7534054022831906e+00, 7.9050417654120575e-02,
+       -8.7941963150599309e-02, 3.1666076957685929e-01,
+       2.0297932232462285e-01, -4.2392077549829726e-01,
+       1.3241327935810543e-01, -6.6346241810532544e-02,
+       -8.1019305580944570e-02, 2.7830224494208888e-01,
+       -4.1905731583840156e-01, -4.9969284527936553e-01,
+       1.3355787183928016e+00, 4.6902734761583582e-02,
+       -1.1100626108196045e-01, 3.3805630488128308e-01,
+       -2.3853178487346252e-01, 3.4785724405059820e-01,
+       1.5307655926865789e+00, 5.0764487316281588e-02,
+       -1.0259706994505384e-01, 3.2220131320183526e-01,
+       4.6395663682204152e-01, -2.8347019688901215e-01,
+       1.2385662249906069e+00, 3.3699309698414767e-02,
+       -9.1617248179872074e-02, 2.9144614839683858e-01,
+       -1.6997848268735108e-01, -4.7116903885245226e-01,
+       1.3459942250907577e+00, 4.5015523494596366e-02,
+       -1.0817857239600029e-01, 3.1243767202759759e-01 ]

assets/geom_M3.PNG

@@ -2278,7 +2278,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.9"
+   "version": "3.7.10"
   }
  },
  "nbformat": 4,