I am working on SFM problem. What I got is like this :
I calculated 3d points with triangulation ,using 2d matching image points.
With the 2d points v2d ,3d points v3d, camera matrix K and the correct Projection Matrices P ( P != eye(3) ), I test the usage of solvePnP. the solvePnP can't give the right rotation and translation. the 3d points is not on one plain and the number is larger than 4.
However , Using other pair (2d,3d ) data , I can get the correct answer . Anyone can help ?
Here is the data. points2d3d
And more detail: detail