Shiyu Mou
Note that only the matrices of second camera are shown as the world coordinate is aligned with the first camera.
Test Ratio: 0.9
R:
[[ 9.97739563e-01 2.13911874e-03 6.71653870e-02]
[-8.59177937e-04 9.99817598e-01 -1.90796599e-02]
[-6.71939495e-02 1.89788245e-02 9.97559410e-01]]
t:
[[-0.97755596]
[ 0.0382311 ]
[ 0.20717803]]
Projection Matrix:
[[ 1.33522862e+03 1.75801346e+01 8.61112256e+02 -1.19943644e+03]
[-3.48311258e+01 1.39601853e+03 4.72954065e+02 1.56738317e+02]
[-6.71939495e-02 1.89788245e-02 9.97559410e-01 2.07178030e-01]]
Inner match
Test Ratio: 0.8
R:
[[ 0.9972597 0.00653782 0.07369092]
[-0.00562026 0.99990417 -0.01265196]
[-0.07376657 0.01220312 0.99720087]]
t:
[[-0.99890188]
[ 0.04277542]
[ 0.01911292]]
Projection Matrix:
[[ 1.32950311e+03 1.84799536e+01 8.69907360e+02 -1.37384869e+03]
[-4.47241380e+01 1.39274643e+03 4.81688315e+02 6.88882675e+01]
[-7.37665745e-02 1.22031233e-02 9.97200871e-01 1.91129238e-02]]
Inner
Test Ratio: 0.7
R:
[[ 0.9998798 0.00384662 0.01501975]
[-0.00393659 0.99997446 0.00596526]
[-0.01499642 -0.00602367 0.9998694 ]]
t:
[[-0.99675237]
[ 0.06185202]
[-0.05156591]]
Projection Matrix:
[[ 1.37837625e+03 7.11161200e-01 7.90403224e+02 -1.42525689e+03]
[-1.29668858e+01 1.38371894e+03 5.08842079e+02 5.99588197e+01]
[-1.49964248e-02 -6.02367457e-03 9.99869403e-01 -5.15659128e-02]]
Inner
