Sfm and Viz in sample scene reconstruction #1193
Description
Opencv 3.2.0-dev Windows 10 VS 2015 VTK 7.1.0
I cannot retrieve camera pose in sample scenereconstruction of module sfm.
In images given in folder data it is not easy to see problem. I use my own data in this folder
@PhilLab @edgarriba
If you run sample :
sfm-example-scene_reconstruction.exe imagessfm.txt 2763 517 501 for left camera I can see this in viz window for left camera:
I think it is wrong there is no image with this pose im my image list.
Now If I change this line in scenereconstruction
path.push_back(Affine3d(Rs_est[i],ts_est[i]));
in
path.push_back(Affine3d(Rs_est[i],ts_est[i]).inv());
Now questions Does problem in image given exist or Is it me ?
If problem exist What is wrong matrix camera pose or pose must be inversed for viz?
Thanks for your answer.