The input data can be downloaded from submission system: the image daliborka_01.jpg
, coordinates of 3D points x
and their projections u
(in the file daliborka_01ux.mat
), and point index vector ix
.
u
, x
and the image into your matlab workspace.
u
by displaying them over the image.
x
by displaying them in a new figure. The 3D plot can be e.g. rotated.
Q
from given image points u
and 3D points x
given your selection index ix
as a function Q, points_sel, err_max, err_points, Q_all = estimate_Q( u, x, ix )where
Q
is the best scaled image projection matrix, points_sel
are indices of the 6 points (w.r.t to all 109 points). The other output arguments are optional (not tested by A.E.), for your convenience: err_max
should be vector of all maximal errors for all tested matrices, err_points
should be vector of point errors for the best camera and Q_all
should be cell matrix containing all tested camera matrices (will be used in HW03). Note: use native indexing, i.e. ix
and point_sel
must be 0based in python implementation and 1based in matlab implementation.
ix
)
Q
projecting the selected 5 1/2 points exactly.
u
and the projections of 3D points x
using the particular matrix Q
(for all 109 points). Find the maximum error over all the correspondences.
log10()
) of the maximum reprojection error of all the computed projection matrices as the function of their selection index and export the plot as a pdf file 02_Q_maxerr.pdf
.
u
as blue dots (plot specifier 'b.
'), highlight the points used for computing the best Q
by plotting them as yellow dots ('y.
'), and plot the projections of x
using the best Q
as red circles ('ro
'). Export the plot as 02_Q_projections.pdf
.
u
as blue dots, highlight the points used for computing the best Q
by plotting them as yellow dots, and plot the displacements of projected points x
multiplied 100 times as red lines. Export the plot as 02_Q_projections_errors.pdf
.
Q
on all 109 points as the function of point index and export as 02_Q_pointerr.pdf
.
(Note: do not forget to create figure titles and describe axes where appropriate.)
Upload an archive containing the following files:
matlab  python 

02_Q_projections.pdf , 02_Q_projections_errors.pdf 

02_Q_maxerr.pdf , 02_Q_pointerr.pdf 

estimate_Q.m  
hw02.m  hw02.py containing also the estimate_Q function 
any other files used by your solution 
The input entry point script hw02
should make all the required figures, output files and prints without manual intervention.
Note: The required files must be in the root directory of the archive.