Closed beautifulchoi closed 5 months ago
As you say, the first case happens when two cameras share the same origin. The second case happens when the cameras don't share the same origin, but the second camera is at $z = 0$ in the first camera's coordinate frame. This is a problem because projecting a point at $z = 0$ is numerically unstable. It would be possible to fix this (e.g., by stepping along the ray that's being projected to pick a new origin), but since this case is pretty rare, we didn't bother. Comment 2 is actually wrong, since the projection could still be within the image plane.
Hello, thanks for your great work! it's really awesome !! btw while I'm on studying your code line by line, I can't understand this comment
it's inside the src.geometry.epipolar_lines.py at 186 line. what I think is , it seems first case is that two camera's center is same, but other one is two camera center is not same and parallel so it can not be projected. is it correct...?