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y' m_3'^T - m_2'^T\\ | y' m_3'^T - m_2'^T\\ | ||
\end{bmatrix}</math> | \end{bmatrix}</math> | ||
===Reconstruction for intrinsically calibrated cameras=== | |||
# Compute the essential matrix E using normalized points | |||
# Select M=[I|0] M'=[R|T] then E=[T_x]R | |||
# Find T and R using SVD of E. | |||
===Reconstruction ambiguity: projective=== | |||
<math>x_h = MX_i = (MH_p^{-1})(H_P X_i)</math> | |||
* Moving the camera will get a different reconstruction even with the same image. The 3D model will be changed by some homography. | |||
* If you know 5 points in 3D, you can rectify the 3D model. | |||
;Projective Reconstruction Theorem | |||
* We can compute a projective reconstruction of a scene from 2 views. | |||
* We don't have to know the calibration or poses. | |||
===Affine Reconstruction=== | |||
==Projects== | ==Projects== |