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How exactly do you work out a 3D pos from 2 cameras

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Hi everyone! Ive been playing around with wimmotes after being inspired by Johnny lee and i want to have a stab at the 3D tracking just for fun, but my maths is useless and i have no idea where to really start. I have 2D data coming from both wiimote cameras and i dont know how to put this into 3D. Poking around has lead me so far to parralax, but from my understanding you work out the X and Y from the distance and not the other way round. Im getting X and y data from both remotes, how do i turn this into usefull 3D data. Although it would be nice, im not too fussed on it be accurate world space, i just want to wave a lightsabre around in 3D so it doesnt need to be to scale or 100% accurate. At the moment im moving a point by the difference in the data of the wiimote from the last frame and this. This is pretty much what im doing at the minute. rawPosX = (wiimote[0].ir.dot.x + wiimote[1].ir.dot.x)/2; rawPosY = (wiimote[0].ir.dot.y + wiimote[1].ir.dot.y)/2; rawPosZ = wiimote[0].ir.dot.x - wiimote[1].ir.dot.x; Vector3 difference = Vector3(oldRawPosX ,oldRawPosY , oldRawPosZ ) - Vector3(rawPosX ,rawPosY , rawPosZ ); pointPosition += difference; This doesnt really seem to work, and i think one of the main logical reasons for this is the fact i have no scaling for how far apart the wiimotes are. I understand that some methods use a calibration step but prefrably i would like to skip this and say make sure the cameras are always next to each other or at some other predetermined arrangement. As far as my current maths skills go we have just gone over trigonometry again in school and i can just about get my head around that. it feels like trigonometry is the solution here but as good as much as i understand the concept of trig i cant figure out how to apply it to this problem.... please help ill be very gratefull! Im using C++, Ogre and wiiyourself.

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The further apart the x positions from wiimote to wiimote the closer the point is. Try something like
rawPosZ = constant/(wiimote[0].ir.dot.x - wiimote[1].ir.dot.x).
Also, your 3D x and y will be a little more complicated since they will get bigger with z. I pulled this code from one of my projects:

px = scalexy*(x-width/2)*pz*2/width ;
py = scalexy*(y-height/2)*pz*2/width ;

That should give a believable 3D position.

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@Alrecenk
Thank you so much for your reply, but ive found that if i use this:
rawPosZ = constant/(wiimote[0].ir.dot.x - wiimote[1].ir.dot.x)

that rawPosZ will change as i move left and right aswell :S

and

px = scalexy*(x-width/2)*pz*2/width ;
py = scalexy*(y-height/2)*pz*2/width ;
(is this meant to be py = scalexy*(y-height/2)*pz*2/height?

what do would you recomend as scalexy & constant?

and is width and height the screen width and height?

and is x and y the average x and y?

thank you fro your patience

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That z calculation is assuming that you have two wiimotes right next to each other facing the same direction and lined up on the x-axis, and even then it's just an approximation. Still, moving left and right shouldn't cause the depth to change too much. Here are my notes on scalexy:

//the internal camera parameter
//when something is 1 away from the camera along z
//the camera image will range from -scalexy to scalexy and -scalexy*width/height to scalexy*width/height
double scalexy=.6;


It's basically a parameter representing the view angle of the camera. In my code I've assumed that the ratio of the horizontal to vertical view angle is the same as the image width to the image height(hence dividing by width for both x and y). Width and height are the width and height of the camera or in this case the wiimote. I believe wiimotes are 1024x768. The average x and y from the two wiimotes should work fine. It's mostly a matter of where the origin is in your 3D space. In some cases it works better to pick one camera, but for simple 3D positioning it's not going to make much difference. It all sounds like a hack, but I've managed to get fairly decent results this way:
http://www.alrecenk.com/resume/images/FacialRecognition/mymodels.png

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http://en.wikipedia.org/wiki/Eight-point_algorithm


It's also much easier to do with quaternions, there is a good example in a free paper on the web titled "Object modeling and motion anaylsis using clifford algebra". It's written in the context of geometric algebra, which if you don't know, just replace the word rotor with quaternion and the wedge product a^b with the cross product a x b.

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@ Alrecenk thanks for all your help so far, im afraid its still not really working, I dont suppose you could have a look at my function and results and see anything obvious?

here is the slightly butchered function that im currently using:


Vector3 FPSGameScreen::WorkOutGoodEnough3DPosition2(Vector2D PointFromCamera1, Vector2D PointFromCamera2)
{

PointFromCamera1 = Vector2(mWiiMotes[0]->IR.Dot[0].RawX , mWiiMotes[0]->IR.Dot[0].RawY);
PointFromCamera2 = Vector2(mWiiMotes[1]->IR.Dot[0].RawX , mWiiMotes[1]->IR.Dot[0].RawY);

float constant = 0.5;//8.5f * 25.4f;
float scaleXY = 0.6f;
float width = 1024;
float height = 768;


float avgX = (PointFromCamera1.x + PointFromCamera2.x) / 2.0f;
float avgY = (PointFromCamera1.y + PointFromCamera2.y) / 2.0f;

float x = avgX;
float y = avgY;

float pz = constant/(PointFromCamera1.x - PointFromCamera2.x);


float px = scaleXY*(x-width/2)*pz*2/width ;
float py = scaleXY*(y-height/2)*pz*2/width ;



Vector3 Point3D = Vector3(px,py,pz);

x = PointFromCamera1.x;
y = PointFromCamera1.y;

pz = constant/(PointFromCamera1.x - PointFromCamera2.x);
px = scaleXY*(x-width/2)*pz*2/width ;
py = scaleXY*(y-height/2)*pz*2/width ;

Vector3 Point3D2 = Vector3(px,py,pz);
DebugMessage(toFile) << sep << sep << "3D point with average x/y " << sep << SEP(Point3D) << sep << "3D point with average x from one camera" << sep << SEP(Point3D2);

return Point3D;
}




Ive put my current results below, and in an easier to read excell file I set it up so that i could hit a,s,d,cntrl so that i could say when i what i was doing at that point, in the results below and in the excell file you will notice it has *right* samples and "forward samples etc, the main point of iterest is the right sample, this is when i moved the IR right and yet get a sudden change in z, looking at the data myself it appears that in actuall fact the x stays the same as the z grows untill a bit later, which is strange. You wll also notice im outputing the 3D point i get when i use the average and the 3D point i get when i use the x and y from just one camera.

3D point with average x/y -3.26E-05 -0.000331182 -0.00241546 3D point with average x from one camera 0.000260417 -0.000350996 -0.00241546
3D point with average x/y -3.26E-05 -0.000331182 -0.00241546 3D point with average x from one camera 0.000260417 -0.000350996 -0.00241546
3D point with average x/y -3.94E-05 -0.000298603 -0.00240385 3D point with average x from one camera 0.000253531 -0.000318322 -0.00240385
3D point with average x/y -3.94E-05 -0.000298603 -0.00240385 3D point with average x from one camera 0.000253531 -0.000318322 -0.00240385

***********************************
STILL SAMPLE
***********************************

3D point with average x/y -8.15E-05 -0.000271532 -0.00243902 3D point with average x from one camera 0.000211509 -0.000294398 -0.00243902
3D point with average x/y -8.15E-05 -0.000271532 -0.00243902 3D point with average x from one camera 0.000211509 -0.000294398 -0.00243902
3D point with average x/y -9.38E-05 -0.000259775 -0.00246305 3D point with average x from one camera 0.000199161 -0.000282866 -0.00246305
3D point with average x/y -9.38E-05 -0.000259775 -0.00246305 3D point with average x from one camera 0.000199161 -0.000282866 -0.00246305
3D point with average x/y -0.000114012 -0.000242457 -0.00246305 3D point with average x from one camera 0.000178956 -0.000265548 -0.00246305
3D point with average x/y -0.000114012 -0.000242457 -0.00246305 3D point with average x from one camera 0.000178956 -0.000265548 -0.00246305
3D point with average x/y -0.000121475 -0.000235804 -0.00243902 3D point with average x from one camera 0.000171494 -0.000260099 -0.00243902
3D point with average x/y -0.000121475 -0.000235804 -0.00243902 3D point with average x from one camera 0.000171494 -0.000260099 -0.00243902
3D point with average x/y -0.000129251 -0.000229779 -0.00245098 3D point with average x from one camera 0.000163718 -0.000252757 -0.00245098
3D point with average x/y -0.000129251 -0.000229779 -0.00245098 3D point with average x from one camera 0.000163718 -0.000252757 -0.00245098
3D point with average x/y -0.000132123 -0.000222599 -0.00245098 3D point with average x from one camera 0.000160846 -0.000247013 -0.00245098
3D point with average x/y -0.000132123 -0.000222599 -0.00245098 3D point with average x from one camera 0.000160846 -0.000247013 -0.00245098
3D point with average x/y -0.000132123 -0.000195313 -0.00245098 3D point with average x from one camera 0.000160846 -0.00021829 -0.00245098
3D point with average x/y -0.000132123 -0.000195313 -0.00245098 3D point with average x from one camera 0.000160846 -0.00021829 -0.00245098
3D point with average x/y -0.000132123 -0.000186696 -0.00245098 3D point with average x from one camera 0.000160846 -0.000209674 -0.00245098
3D point with average x/y -0.000132123 -0.000186696 -0.00245098 3D point with average x from one camera 0.000160846 -0.000209674 -0.00245098
3D point with average x/y -0.000136332 -0.00017114 -0.00247525 3D point with average x from one camera 0.000156637 -0.000194346 -0.00247525
3D point with average x/y -0.000136332 -0.00017114 -0.00247525 3D point with average x from one camera 0.000156637 -0.000194346 -0.00247525
3D point with average x/y -0.000126379 -0.000159409 -0.00245098 3D point with average x from one camera 0.00016659 -0.000180951 -0.00245098
3D point with average x/y -0.000126379 -0.000159409 -0.00245098 3D point with average x from one camera 0.00016659 -0.000180951 -0.00245098
3D point with average x/y -0.000131331 -0.000163081 -0.00246305 3D point with average x from one camera 0.000161638 -0.000184729 -0.00246305
3D point with average x/y -0.000131331 -0.000163081 -0.00246305 3D point with average x from one camera 0.000161638 -0.000184729 -0.00246305
3D point with average x/y -0.000135553 -0.000169076 -0.00248756 3D point with average x from one camera 0.000157416 -0.000192397 -0.00248756
3D point with average x/y -0.000135553 -0.000169076 -0.00248756 3D point with average x from one camera 0.000157416 -0.000192397 -0.00248756
3D point with average x/y -0.000132638 -0.000167619 -0.00248756 3D point with average x from one camera 0.000160331 -0.000189482 -0.00248756
3D point with average x/y -0.000132638 -0.000167619 -0.00248756 3D point with average x from one camera 0.000160331 -0.000189482 -0.00248756
3D point with average x/y -0.000136332 -0.000165339 -0.00247525 3D point with average x from one camera 0.000156637 -0.000188544 -0.00247525
3D point with average x/y -0.000136332 -0.000165339 -0.00247525 3D point with average x from one camera 0.000156637 -0.000188544 -0.00247525
3D point with average x/y -0.000143612 -0.000163718 -0.00245098 3D point with average x from one camera 0.000149357 -0.000186696 -0.00245098
3D point with average x/y -0.000143612 -0.000163718 -0.00245098 3D point with average x from one camera 0.000149357 -0.000186696 -0.00245098
3D point with average x/y -0.000177513 -0.000178956 -0.00246305 3D point with average x from one camera 0.000115456 -0.000202047 -0.00246305
3D point with average x/y -0.000177513 -0.000178956 -0.00246305 3D point with average x from one camera 0.000115456 -0.000202047 -0.00246305
3D point with average x/y -0.000180399 -0.000181843 -0.00246305 3D point with average x from one camera 0.000112569 -0.000204934 -0.00246305
3D point with average x/y -0.000180399 -0.000181843 -0.00246305 3D point with average x from one camera 0.000112569 -0.000204934 -0.00246305
3D point with average x/y -0.000179842 -0.000189995 -0.00247525 3D point with average x from one camera 0.000113127 -0.00021175 -0.00247525
3D point with average x/y -0.000179842 -0.000189995 -0.00247525 3D point with average x from one camera 0.000113127 -0.00021175 -0.00247525
3D point with average x/y -0.000179842 -0.000198697 -0.00247525 3D point with average x from one camera 0.000113127 -0.000223352 -0.00247525
3D point with average x/y -0.000179842 -0.000198697 -0.00247525 3D point with average x from one camera 0.000113127 -0.000223352 -0.00247525
3D point with average x/y -0.00017174 -0.00020782 -0.00246305 3D point with average x from one camera 0.000121228 -0.000233798 -0.00246305
3D point with average x/y -0.00017174 -0.00020782 -0.00246305 3D point with average x from one camera 0.000121228 -0.000233798 -0.00246305
3D point with average x/y -0.000165339 -0.000205948 -0.00247525 3D point with average x from one camera 0.00012763 -0.000232054 -0.00247525
3D point with average x/y -0.000165339 -0.000205948 -0.00247525 3D point with average x from one camera 0.00012763 -0.000232054 -0.00247525
3D point with average x/y -0.000163718 -0.00021111 -0.00245098 3D point with average x from one camera 0.000129251 -0.000235524 -0.00245098
3D point with average x/y -0.000163718 -0.00021111 -0.00245098 3D point with average x from one camera 0.000129251 -0.000235524 -0.00245098
3D point with average x/y -0.000163718 -0.00021111 -0.00245098 3D point with average x from one camera 0.000129251 -0.000235524 -0.00245098
3D point with average x/y -0.000163718 -0.00021111 -0.00245098 3D point with average x from one camera 0.000129251 -0.000235524 -0.00245098
3D point with average x/y -0.000159537 -0.000210299 -0.00247525 3D point with average x from one camera 0.000133431 -0.000234955 -0.00247525
3D point with average x/y -0.000159537 -0.000210299 -0.00247525 3D point with average x from one camera 0.000133431 -0.000234955 -0.00247525
3D point with average x/y -0.000149357 -0.000212546 -0.00245098 3D point with average x from one camera 0.000143612 -0.000235524 -0.00245098
3D point with average x/y -0.000149357 -0.000212546 -0.00245098 3D point with average x from one camera 0.000143612 -0.000235524 -0.00245098
3D point with average x/y -0.000156637 -0.00021465 -0.00247525 3D point with average x from one camera 0.000136332 -0.000237856 -0.00247525
3D point with average x/y -0.000156637 -0.00021465 -0.00247525 3D point with average x from one camera 0.000136332 -0.000237856 -0.00247525
3D point with average x/y -0.000149357 -0.000209674 -0.00245098 3D point with average x from one camera 0.000143612 -0.000232652 -0.00245098
3D point with average x/y -0.000149357 -0.000209674 -0.00245098 3D point with average x from one camera 0.000143612 -0.000232652 -0.00245098
3D point with average x/y -0.000143612 -0.00021111 -0.00245098 3D point with average x from one camera 0.000149357 -0.000235524 -0.00245098
3D point with average x/y -0.000143612 -0.00021111 -0.00245098 3D point with average x from one camera 0.000149357 -0.000235524 -0.00245098
3D point with average x/y -0.00013999 -0.000199161 -0.00246305 3D point with average x from one camera 0.000152979 -0.000222252 -0.00246305
3D point with average x/y -0.00013999 -0.000199161 -0.00246305 3D point with average x from one camera 0.000152979 -0.000222252 -0.00246305
3D point with average x/y -0.000143612 -0.00019244 -0.00245098 3D point with average x from one camera 0.000149357 -0.000215418 -0.00245098
3D point with average x/y -0.000143612 -0.00019244 -0.00245098 3D point with average x from one camera 0.000149357 -0.000215418 -0.00245098
3D point with average x/y -0.000143612 -0.00019244 -0.00245098 3D point with average x from one camera 0.000149357 -0.000215418 -0.00245098
3D point with average x/y -0.000143612 -0.00019244 -0.00245098 3D point with average x from one camera 0.000149357 -0.000215418 -0.00245098
3D point with average x/y -0.00013999 -0.000193388 -0.00246305 3D point with average x from one camera 0.000152979 -0.000216479 -0.00246305
3D point with average x/y -0.00013999 -0.000193388 -0.00246305 3D point with average x from one camera 0.000152979 -0.000216479 -0.00246305
3D point with average x/y -0.000132638 -0.000188025 -0.00248756 3D point with average x from one camera 0.000160331 -0.000209888 -0.00248756
3D point with average x/y -0.000132638 -0.000188025 -0.00248756 3D point with average x from one camera 0.000160331 -0.000209888 -0.00248756
3D point with average x/y -0.000125558 -0.000184729 -0.00246305 3D point with average x from one camera 0.000167411 -0.00020782 -0.00246305
3D point with average x/y -0.000125558 -0.000184729 -0.00246305 3D point with average x from one camera 0.000167411 -0.00020782 -0.00246305
3D point with average x/y -0.000128444 -0.000178956 -0.00246305 3D point with average x from one camera 0.000164524 -0.000202047 -0.00246305
3D point with average x/y -0.000128444 -0.000178956 -0.00246305 3D point with average x from one camera 0.000164524 -0.000202047 -0.00246305

***********************************
END SAMPLE
***********************************

3D point with average x/y -0.000132638 -0.000179279 -0.00248756 3D point with average x from one camera 0.000160331 -0.000204058 -0.00248756
3D point with average x/y -0.000132638 -0.000179279 -0.00248756 3D point with average x from one camera 0.000160331 -0.000204058 -0.00248756
3D point with average x/y -0.000145034 -0.000176942 -0.00247525 3D point with average x from one camera 0.000147935 -0.000200147 -0.00247525
3D point with average x/y -0.000145034 -0.000176942 -0.00247525 3D point with average x from one camera 0.000147935 -0.000200147 -0.00247525
3D point with average x/y -0.000158874 -0.000179279 -0.00248756 3D point with average x from one camera 0.000134095 -0.000201143 -0.00248756
3D point with average x/y -0.000158874 -0.000179279 -0.00248756 3D point with average x from one camera 0.000134095 -0.000201143 -0.00248756
3D point with average x/y -0.000143612 -0.000195313 -0.00245098 3D point with average x from one camera 0.000149357 -0.00021829 -0.00245098
3D point with average x/y -0.000143612 -0.000195313 -0.00245098 3D point with average x from one camera 0.000149357 -0.00021829 -0.00245098
3D point with average x/y -0.000137695 -0.000196289 -0.0025 3D point with average x from one camera 0.000155273 -0.000219727 -0.0025
3D point with average x/y -0.000137695 -0.000196289 -0.0025 3D point with average x from one camera 0.000155273 -0.000219727 -0.0025
3D point with average x/y -0.000138468 -0.00019094 -0.00248756 3D point with average x from one camera 0.000154501 -0.000215718 -0.00248756
3D point with average x/y -0.000138468 -0.00019094 -0.00248756 3D point with average x from one camera 0.000154501 -0.000215718 -0.00248756
3D point with average x/y -0.000142876 -0.000193388 -0.00246305 3D point with average x from one camera 0.000150092 -0.000216479 -0.00246305
3D point with average x/y -0.000142876 -0.000193388 -0.00246305 3D point with average x from one camera 0.000150092 -0.000216479 -0.00246305
3D point with average x/y -0.000147935 -0.000197246 -0.00247525 3D point with average x from one camera 0.000145034 -0.000220452 -0.00247525
3D point with average x/y -0.000147935 -0.000197246 -0.00247525 3D point with average x from one camera 0.000145034 -0.000220452 -0.00247525
3D point with average x/y -0.000160195 -0.000202047 -0.00246305 3D point with average x from one camera 0.000132774 -0.000225139 -0.00246305
3D point with average x/y -0.000160195 -0.000202047 -0.00246305 3D point with average x from one camera 0.000132774 -0.000225139 -0.00246305
3D point with average x/y -0.000186696 -0.000205365 -0.00245098 3D point with average x from one camera 0.000106273 -0.000232652 -0.00245098
3D point with average x/y -0.000186696 -0.000205365 -0.00245098 3D point with average x from one camera 0.000106273 -0.000232652 -0.00245098
3D point with average x/y -0.000157973 -0.000196749 -0.00245098 3D point with average x from one camera 0.000134995 -0.000221163 -0.00245098
3D point with average x/y -0.000157973 -0.000196749 -0.00245098 3D point with average x from one camera 0.000134995 -0.000221163 -0.00245098
3D point with average x/y -0.000145777 -0.00020522 -0.00241546 3D point with average x from one camera 0.000147192 -0.00022928 -0.00241546
3D point with average x/y -0.000145777 -0.00020522 -0.00241546 3D point with average x from one camera 0.000147192 -0.00022928 -0.00241546
3D point with average x/y -0.000121953 -0.000192042 -0.00239234 3D point with average x from one camera 0.000171015 -0.000213068 -0.00239234
3D point with average x/y -0.000121953 -0.000192042 -0.00239234 3D point with average x from one camera 0.000171015 -0.000213068 -0.00239234
3D point with average x/y -0.000107649 -0.000186682 -0.00232558 3D point with average x from one camera 0.00018532 -0.000207122 -0.00232558
3D point with average x/y -0.000107649 -0.000186682 -0.00232558 3D point with average x from one camera 0.00018532 -0.000207122 -0.00232558
3D point with average x/y -0.000110199 -0.000182769 -0.00229358 3D point with average x from one camera 0.000182769 -0.000204272 -0.00229358
3D point with average x/y -0.000110199 -0.000182769 -0.00229358 3D point with average x from one camera 0.000182769 -0.000204272 -0.00229358
3D point with average x/y -0.000124447 -0.000159448 -0.00221239 3D point with average x from one camera 0.000168522 -0.000178892 -0.00221239
3D point with average x/y -0.000124447 -0.000159448 -0.00221239 3D point with average x from one camera 0.000168522 -0.000178892 -0.00221239
3D point with average x/y -0.000127704 -0.000126452 -0.00213675 3D point with average x from one camera 0.000165264 -0.000147736 -0.00213675
3D point with average x/y -0.000127704 -0.000126452 -0.00213675 3D point with average x from one camera 0.000165264 -0.000147736 -0.00213675
3D point with average x/y -0.000114535 -0.000110918 -0.00205761 3D point with average x from one camera 0.000178434 -0.000130208 -0.00205761
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3D point with average x/y -0.00010713 -8.75E-05 -0.00186567 3D point with average x from one camera 0.000185838 -0.000104944 -0.00186567
3D point with average x/y -0.00010713 -8.75E-05 -0.00186567 3D point with average x from one camera 0.000185838 -0.000104944 -0.00186567
3D point with average x/y -0.000116965 -6.57E-05 -0.00190114 3D point with average x from one camera 0.000176004 -8.24E-05 -0.00190114
3D point with average x/y -0.000116965 -6.57E-05 -0.00190114 3D point with average x from one camera 0.000176004 -8.24E-05 -0.00190114
3D point with average x/y -0.000117188 -5.18E-05 -0.00192308 3D point with average x from one camera 0.000175781 -6.99E-05 -0.00192308
3D point with average x/y -0.000117188 -5.18E-05 -0.00192308 3D point with average x from one camera 0.000175781 -6.99E-05 -0.00192308
3D point with average x/y -0.000102198 -5.34E-05 -0.00193798 3D point with average x from one camera 0.00019077 -7.27E-05 -0.00193798
3D point with average x/y -0.000102198 -5.34E-05 -0.00193798 3D point with average x from one camera 0.00019077 -7.27E-05 -0.00193798
3D point with average x/y -0.000103736 -6.27E-05 -0.00194553 3D point with average x from one camera 0.000189233 -8.21E-05 -0.00194553
3D point with average x/y -0.000103736 -6.27E-05 -0.00194553 3D point with average x from one camera 0.000189233 -8.21E-05 -0.00194553
3D point with average x/y -0.000100708 -8.93E-05 -0.00195313 3D point with average x from one camera 0.000192261 -0.000109863 -0.00195313
3D point with average x/y -0.000100708 -8.93E-05 -0.00195313 3D point with average x from one camera 0.000192261 -0.000109863 -0.00195313
3D point with average x/y -0.00010306 -0.000130852 -0.00197628 3D point with average x from one camera 0.000189909 -0.000152853 -0.00197628
3D point with average x/y -0.00010306 -0.000130852 -0.00197628 3D point with average x from one camera 0.000189909 -0.000152853 -0.00197628
3D point with average x/y -0.000111045 -0.000144122 -0.00201613 3D point with average x from one camera 0.000181924 -0.000163023 -0.00201613
3D point with average x/y -0.000111045 -0.000144122 -0.00201613 3D point with average x from one camera 0.000181924 -0.000163023 -0.00201613
3D point with average x/y -0.000108817 -0.000141103 -0.00204082 3D point with average x from one camera 0.000184152 -0.000160236 -0.00204082
3D point with average x/y -0.000108817 -0.000141103 -0.00204082 3D point with average x from one camera 0.000184152 -0.000160236 -0.00204082
3D point with average x/y -9.20E-05 -0.000123483 -0.00206612 3D point with average x from one camera 0.000200962 -0.000142853 -0.00206612
3D point with average x/y -9.20E-05 -0.000123483 -0.00206612 3D point with average x from one camera 0.000200962 -0.000142853 -0.00206612
3D point with average x/y -8.12E-05 -0.000129251 -0.00210084 3D point with average x from one camera 0.000211725 -0.000147715 -0.00210084
3D point with average x/y -8.12E-05 -0.000129251 -0.00210084 3D point with average x from one camera 0.000211725 -0.000147715 -0.00210084
3D point with average x/y -7.94E-05 -0.00013407 -0.00211864 3D point with average x from one camera 0.00021352 -0.00015145 -0.00211864
3D point with average x/y -7.94E-05 -0.00013407 -0.00211864 3D point with average x from one camera 0.00021352 -0.00015145 -0.00211864
3D point with average x/y -8.42E-05 -0.000109392 -0.00214592 3D point with average x from one camera 0.000208725 -0.000128252 -0.00214592
3D point with average x/y -8.42E-05 -0.000109392 -0.00214592 3D point with average x from one camera 0.000208725 -0.000128252 -0.00214592
3D point with average x/y -7.36E-05 -6.97E-05 -0.00220264 3D point with average x from one camera 0.000219404 -9.03E-05 -0.00220264
3D point with average x/y -7.36E-05 -6.97E-05 -0.00220264 3D point with average x from one camera 0.000219404 -9.03E-05 -0.00220264

***********************************
END SAMPLE
***********************************

3D point with average x/y -5.86E-05 -6.75E-05 -0.00217391 3D point with average x from one camera 0.000234375 -8.92E-05 -0.00217391
3D point with average x/y -5.86E-05 -6.75E-05 -0.00217391 3D point with average x from one camera 0.000234375 -8.92E-05 -0.00217391
3D point with average x/y -6.27E-05 -8.83E-05 -0.00218341 3D point with average x from one camera 0.000230281 -0.000104906 -0.00218341
3D point with average x/y -6.27E-05 -8.83E-05 -0.00218341 3D point with average x from one camera 0.000230281 -0.000104906 -0.00218341
3D point with average x/y -7.61E-05 -0.000113574 -0.00220264 3D point with average x from one camera 0.000216823 -0.000134224 -0.00220264
3D point with average x/y -7.61E-05 -0.000113574 -0.00220264 3D point with average x from one camera 0.000216823 -0.000134224 -0.00220264
3D point with average x/y -7.97E-05 -0.00013235 -0.00219298 3D point with average x from one camera 0.000213302 -0.000151624 -0.00219298
3D point with average x/y -7.97E-05 -0.00013235 -0.00219298 3D point with average x from one camera 0.000213302 -0.000151624 -0.00219298
3D point with average x/y -8.65E-05 -0.000139386 -0.00220264 3D point with average x from one camera 0.000206498 -0.000160036 -0.00220264
3D point with average x/y -8.65E-05 -0.000139386 -0.00220264 3D point with average x from one camera 0.000206498 -0.000160036 -0.00220264
3D point with average x/y -8.91E-05 -0.000121317 -0.00220264 3D point with average x from one camera 0.000203917 -0.000139386 -0.00220264
3D point with average x/y -8.91E-05 -0.000121317 -0.00220264 3D point with average x from one camera 0.000203917 -0.000139386 -0.00220264
3D point with average x/y -9.33E-05 -0.000114076 -0.00221239 3D point with average x from one camera 0.000199634 -0.000134817 -0.00221239
3D point with average x/y -9.33E-05 -0.000114076 -0.00221239 3D point with average x from one camera 0.000199634 -0.000134817 -0.00221239
3D point with average x/y -0.000101958 -0.00010583 -0.00220264 3D point with average x from one camera 0.00019101 -0.00012648 -0.00220264
3D point with average x/y -0.000101958 -0.00010583 -0.00220264 3D point with average x from one camera 0.00019101 -0.00012648 -0.00220264
3D point with average x/y -0.000133405 -9.02E-05 -0.00223214 3D point with average x from one camera 0.000159563 -0.000112479 -0.00223214
3D point with average x/y -0.000133405 -9.02E-05 -0.00223214 3D point with average x from one camera 0.000159563 -0.000112479 -0.00223214
3D point with average x/y -0.000140003 -9.46E-05 -0.00221239 3D point with average x from one camera 0.000152966 -0.000116669 -0.00221239
3D point with average x/y -0.000140003 -9.46E-05 -0.00221239 3D point with average x from one camera 0.000152966 -0.000116669 -0.00221239

***********************************
FORWARD SAMPLE
***********************************

3D point with average x/y -0.000138637 -9.81E-05 -0.00223214 3D point with average x from one camera 0.000154332 -0.000120326 -0.00223214
3D point with average x/y -0.000138637 -9.81E-05 -0.00223214 3D point with average x from one camera 0.000154332 -0.000120326 -0.00223214
3D point with average x/y -0.000105574 -0.000118771 -0.00225225 3D point with average x from one camera 0.000187394 -0.000139886 -0.00225225
3D point with average x/y -0.000105574 -0.000118771 -0.00225225 3D point with average x from one camera 0.000187394 -0.000139886 -0.00225225
3D point with average x/y -2.35E-05 -0.000125558 -0.00223214 3D point with average x from one camera 0.000269427 -0.000143869 -0.00223214
3D point with average x/y -2.35E-05 -0.000125558 -0.00223214 3D point with average x from one camera 0.000269427 -0.000143869 -0.00223214
3D point with average x/y 7.59E-05 -0.000121634 -0.00223214 3D point with average x from one camera 0.000368827 -0.000136021 -0.00223214
3D point with average x/y 7.59E-05 -0.000121634 -0.00223214 3D point with average x from one camera 0.000368827 -0.000136021 -0.00223214
3D point with average x/y 0.000211149 -0.000113492 -0.00225225 3D point with average x from one camera 0.000504117 -0.000126689 -0.00225225
3D point with average x/y 0.000211149 -0.000113492 -0.00225225 3D point with average x from one camera 0.000504117 -0.000126689 -0.00225225
3D point with average x/y 0.000393805 -0.000106286 -0.00232558 3D point with average x from one camera 0.000686773 -0.000117188 -0.00232558
3D point with average x/y 0.000393805 -0.000106286 -0.00232558 3D point with average x from one camera 0.000686773 -0.000117188 -0.00232558
3D point with average x/y 0.000577947 -9.59E-05 -0.00227273 3D point with average x from one camera 0.000870916 -0.000101207 -0.00227273
3D point with average x/y 0.000577947 -9.59E-05 -0.00227273 3D point with average x from one camera 0.000870916 -0.000101207 -0.00227273
3D point with average x/y 0.0007871 -8.91E-05 -0.00230415 3D point with average x from one camera 0.00108007 -8.91E-05 -0.00230415
3D point with average x/y 0.0007871 -8.91E-05 -0.00230415 3D point with average x from one camera 0.00108007 -8.91E-05 -0.00230415
3D point with average x/y 0.00097385 -6.24E-05 -0.00231481 3D point with average x from one camera 0.00126682 -5.70E-05 -0.00231481
3D point with average x/y 0.00097385 -6.24E-05 -0.00231481 3D point with average x from one camera 0.00126682 -5.70E-05 -0.00231481
3D point with average x/y 0.00142107 -1.68E-05 -0.00287356 3D point with average x from one camera 0.00171404 -2.36E-05 -0.00287356
3D point with average x/y 0.00142107 -1.68E-05 -0.00287356 3D point with average x from one camera 0.00171404 -2.36E-05 -0.00287356
3D point with average x/y 0.00348225 7.42E-06 -0.00632911 3D point with average x from one camera 0.00377522 -5.19E-05 -0.00632911
3D point with average x/y 0.00348225 7.42E-06 -0.00632911 3D point with average x from one camera 0.00377522 -5.19E-05 -0.00632911
3D point with average x/y 0.0593555 -0.000585938 -0.1 3D point with average x from one camera 0.0596484 -0.000820313 -0.1
3D point with average x/y 0.0593555 -0.000585938 -0.1 3D point with average x from one camera 0.0596484 -0.000820313 -0.1
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y -0.099707 0.00126953 0.166667 3D point with average x from one camera -0.0994141 0.00136719 0.166667
3D point with average x/y 0.00379254 -0.000176584 -0.00684932 3D point with average x from one camera 0.00408551 -5.62E-05 -0.00684932
3D point with average x/y 0.00379254 -0.000176584 -0.00684932 3D point with average x from one camera 0.00408551 -5.62E-05 -0.00684932
3D point with average x/y 0.0014614 -7.58E-05 -0.00294118 3D point with average x from one camera 0.00175437 -2.41E-05 -0.00294118
3D point with average x/y 0.0014614 -7.58E-05 -0.00294118 3D point with average x from one camera 0.00175437 -2.41E-05 -0.00294118
3D point with average x/y 0.00103666 -0.000125357 -0.00240385 3D point with average x from one camera 0.00132963 -0.000118314 -0.00240385
3D point with average x/y 0.00103666 -0.000125357 -0.00240385 3D point with average x from one camera 0.00132963 -0.000118314 -0.00240385
3D point with average x/y 0.000887398 -0.000155684 -0.00241546 3D point with average x from one camera 0.00118037 -0.000152853 -0.00241546
3D point with average x/y 0.000887398 -0.000155684 -0.00241546 3D point with average x from one camera 0.00118037 -0.000152853 -0.00241546
3D point with average x/y 0.000746132 -0.000178956 -0.00246305 3D point with average x from one camera 0.0010391 -0.000181843 -0.00246305
3D point with average x/y 0.000746132 -0.000178956 -0.00246305 3D point with average x from one camera 0.0010391 -0.000181843 -0.00246305
3D point with average x/y 0.000526794 -0.0001568 -0.00234742 3D point with average x from one camera 0.000819762 -0.000165053 -0.00234742
3D point with average x/y 0.000526794 -0.0001568 -0.00234742 3D point with average x from one camera 0.000819762 -0.000165053 -0.00234742
3D point with average x/y 0.000397198 -0.000161978 -0.00240385 3D point with average x from one camera 0.000690167 -0.000171837 -0.00240385
3D point with average x/y 0.000397198 -0.000161978 -0.00240385 3D point with average x from one camera 0.000690167 -0.000171837 -0.00240385
3D point with average x/y 0.000267616 -0.000183105 -0.00240385 3D point with average x from one camera 0.000560584 -0.000197191 -0.00240385
3D point with average x/y 0.000267616 -0.000183105 -0.00240385 3D point with average x from one camera 0.000560584 -0.000197191 -0.00240385
3D point with average x/y 0.000198552 -0.000205495 -0.00236967 3D point with average x from one camera 0.000491521 -0.000219379 -0.00236967
3D point with average x/y 0.000198552 -0.000205495 -0.00236967 3D point with average x from one camera 0.000491521 -0.000219379 -0.00236967
3D point with average x/y 0.000134163 -0.000214935 -0.00233645 3D point with average x from one camera 0.000427132 -0.000229994 -0.00233645
3D point with average x/y 0.000134163 -0.000214935 -0.00233645 3D point with average x from one camera 0.000427132 -0.000229994 -0.00233645
3D point with average x/y 1.12E-05 -0.000216239 -0.00238095 3D point with average x from one camera 0.000304129 -0.000234375 -0.00238095
3D point with average x/y 1.12E-05 -0.000216239 -0.00238095 3D point with average x from one camera 0.000304129 -0.000234375 -0.00238095
3D point with average x/y -6.25E-05 -0.00020966 -0.00236967 3D point with average x from one camera 0.000230487 -0.000230487 -0.00236967
3D point with average x/y -6.25E-05 -0.00020966 -0.00236967 3D point with average x from one camera 0.000230487 -0.000230487 -0.00236967
3D point with average x/y -8.73E-05 -0.000201416 -0.00240385 3D point with average x from one camera 0.000205642 -0.000222544 -0.00240385
3D point with average x/y -8.73E-05 -0.000201416 -0.00240385 3D point with average x from one camera 0.000205642 -0.000222544 -0.00240385
3D point with average x/y -0.000106027 -0.000209263 -0.00238095 3D point with average x from one camera 0.000186942 -0.000231585 -0.00238095
3D point with average x/y -0.000106027 -0.000209263 -0.00238095 3D point with average x from one camera 0.000186942 -0.000231585 -0.00238095

***********************************
END SAMPLE
***********************************

3D point with average x/y -0.000116346 -0.000220077 -0.00239234 3D point with average x from one camera 0.000176622 -0.000241103 -0.00239234
3D point with average x/y -0.000116346 -0.000220077 -0.00239234 3D point with average x from one camera 0.000176622 -0.000241103 -0.00239234
3D point with average x/y -0.000109863 -0.000239446 -0.00240385 3D point with average x from one camera 0.000183105 -0.000261982 -0.00240385
3D point with average x/y -0.000109863 -0.000239446 -0.00240385 3D point with average x from one camera 0.000183105 -0.000261982 -0.00240385
3D point with average x/y -0.000115497 -0.000254939 -0.00240385 3D point with average x from one camera 0.000177471 -0.000276067 -0.00240385
3D point with average x/y -0.000115497 -0.000254939 -0.00240385 3D point with average x from one camera 0.000177471 -0.000276067 -0.00240385
3D point with average x/y -9.39E-05 -0.000263532 -0.00239234 3D point with average x from one camera 0.000199051 -0.000283156 -0.00239234
3D point with average x/y -9.39E-05 -0.000263532 -0.00239234 3D point with average x from one camera 0.000199051 -0.000283156 -0.00239234
3D point with average x/y -7.71E-05 -0.000234095 -0.00239234 3D point with average x from one camera 0.000215872 -0.000255121 -0.00239234
3D point with average x/y -7.71E-05 -0.000234095 -0.00239234 3D point with average x from one camera 0.000215872 -0.000255121 -0.00239234
3D point with average x/y -7.89E-05 -0.000215501 -0.00240385 3D point with average x from one camera 0.000214093 -0.000236629 -0.00240385
3D point with average x/y -7.89E-05 -0.000215501 -0.00240385 3D point with average x from one camera 0.000214093 -0.000236629 -0.00240385





@robert_porter thank you for the links, im looking through them now!

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