problem in angleBetweenRay about openmvg HOT 5 CLOSED

Hi,

Considering the translation does not affect the results.
But I will consider your remark. Thanks.

Regards

from openmvg.

the full formula for converting a point from image to world coordinates is:
x = (u_depth, v_depth, depth)
X = R.t() * K.inv() * x + C
getting the ray:
ray = X - C
and thus C is not needed, neither the depth which will be removed during normalization

the problem in your code is that you forget to add C so that substracting it at the end is therefore incorrect

from openmvg.

So you suggest using only the following:
Vec3 ray1 = cam1._R.transpose() * (cam1._K.inverse() * Vec3(x1(0),x1(1),1.)).normalized();
Vec3 ray2 = cam2._R.transpose() * (cam2._K.inverse() * Vec3(x2(0),x2(1),1.)).normalized();
ray1.normalize();
ray2.normalize();
double mag = ray1.norm() * ray2.norm();
double dotAngle = ray1.dot(ray2);
return R2D(acos(clamp(dotAngle/mag, -1.0+1.e-8, 1.0-1.e-8)));

from openmvg.

something like that, but simpler:
Vec3 ray1 = (cam1._R.transpose() * (cam1._K.inverse() * Vec3(x1(0),x1(1),1.))).normalized();
Vec3 ray2 = (cam2._R.transpose() * (cam2._K.inverse() * Vec3(x2(0),x2(1),1.))).normalized();
double dotAngle = ray1.dot(ray2);
return R2D(acos(clamp(dotAngle, -1.0+1.e-8, 1.0-1.e-8)));

from openmvg.

Thanks to cdcseacave it's now fixed in the develop branch.

from openmvg.