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I have two images captured in the same space (scene), one with known pose. I need to calculate the pose of the second (query) image. I have obtained the relative camera pose using essential matrix. Now I am doing calculation of camera pose through the matrix multiplication (here is a formula).

I try to build the 4x4 pose Mat from rotation and translation matrices. My code is following

Mat cameraMotionMat = bestPose.buildPoseMat();                                                                                              

cout << "cameraMotionMat: " << cameraMotionMat.rows << ", " << cameraMotionMat.cols << endl;
float row_a[4] = {0.0, 0.0, 0.0, 1.0};
Mat row = Mat::zeros(1, 4, CV_64F);
cout << row.type() << endl; 

cameraMotionMat.push_back(row); 
// cameraMotionMat.at<float>(3, 3) = 1.0;

I need to extend the Mat with row [0.0, 0.0, 0.0, 1.0] (zeros vector with 1 on the last position). Strangely I get following output when print out the resultant matrix

[0.9107258520121255, 0.4129580377861768, 0.006639390377046724, 0.9039011699443721; 0.4129661348384583, -0.9107463665340377, 0.0001652925667582038, -0.4277340727282191; 0.006115059555925467, 0.002591307168000504, -0.9999779453436902, 0.002497598952195387;
0, 0.0078125, 0, 0]

Last row does not look like it should be: [0, 0.0078125, 0, 0] rather than [0.0, 0.0, 0.0, 1.0]. Is this implementation correct? What could a problems with this matrix?

I have two images captured in the same space (scene), one with known pose. I need to calculate the pose of the second (query) image. I have obtained the relative camera pose using essential matrix. Now I am doing calculation of camera pose through the matrix multiplication (here is a formula).

I try to build the 4x4 pose Mat from rotation and translation matrices. My code is following

Mat cameraMotionMat = bestPose.buildPoseMat();                                                                                              

cout << "cameraMotionMat: " << cameraMotionMat.rows << ", " << cameraMotionMat.cols << endl;
float row_a[4] = {0.0, 0.0, 0.0, 1.0};
Mat row = Mat::zeros(1, 4, CV_64F);
cout << row.type() << endl; 

cameraMotionMat.push_back(row); 
// cameraMotionMat.at<float>(3, 3) = 1.0;

Initially method bestPose.buildPoseMat() returns Mat of size (3, 4). I need to extend the Mat to size (4, 4) with row [0.0, 0.0, 0.0, 1.0] (zeros vector with 1 on the last position). Strangely I get following output when print out the resultant matrix

[0.9107258520121255, 0.4129580377861768, 0.006639390377046724, 0.9039011699443721; 0.4129661348384583, -0.9107463665340377, 0.0001652925667582038, -0.4277340727282191; 0.006115059555925467, 0.002591307168000504, -0.9999779453436902, 0.002497598952195387;
0, 0.0078125, 0, 0]

Last row does not look like it should be: [0, 0.0078125, 0, 0] rather than [0.0, 0.0, 0.0, 1.0]. Is this implementation correct? What could a problems with this matrix?

I have two images captured in the same space (scene), one with known pose. I need to calculate the pose of the second (query) image. I have obtained the relative camera pose using essential matrix. Now I am doing calculation of camera pose through the matrix multiplication (here is a formula).

I try to build the 4x4 pose Mat from rotation and translation matrices. My code is following

Pose bestPose = poses[best_view_index]; 

Mat cameraMotionMat = bestPose.buildPoseMat();                                                                                              

cout << "cameraMotionMat: " << cameraMotionMat.rows << ", " << cameraMotionMat.cols << endl;
float row_a[4] = {0.0, 0.0, 0.0, 1.0};
Mat row = Mat::zeros(1, 4, CV_64F);
cout << row.type() << endl; 

cameraMotionMat.push_back(row); 
// cameraMotionMat.at<float>(3, 3) = 1.0;

Earlier in code. Fora each view image:

Mat E = findEssentialMat(pts1, pts2, focal, pp, FM_RANSAC, F_DIST, F_CONF, mask);

// Read pose for view image
Mat R, t; //, mask;                                                                                                                     
recoverPose(E, pts1, pts2, R, t, focal, pp, mask);

Pose pose (R, t);
poses.push_back(pose);

Initially method bestPose.buildPoseMat() returns Mat of size (3, 4). I need to extend the Mat to size (4, 4) with row [0.0, 0.0, 0.0, 1.0] (zeros vector with 1 on the last position). Strangely I get following output when print out the resultant matrix

[0.9107258520121255, 0.4129580377861768, 0.006639390377046724, 0.9039011699443721; 0.4129661348384583, -0.9107463665340377, 0.0001652925667582038, -0.4277340727282191; 0.006115059555925467, 0.002591307168000504, -0.9999779453436902, 0.002497598952195387;
0, 0.0078125, 0, 0]

Last row does not look like it should be: [0, 0.0078125, 0, 0] rather than [0.0, 0.0, 0.0, 1.0]. Is this implementation correct? What could a problems with this matrix?