From cd87ea30ff99e776519413d107b744cfc34668c3 Mon Sep 17 00:00:00 2001 From: ankitabihani786 Date: Tue, 23 May 2017 00:31:30 -0700 Subject: [PATCH] Update 03-epipolar-geometry.tex Fixed equation --- 03-epipolar-geometry/03-epipolar-geometry.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/03-epipolar-geometry/03-epipolar-geometry.tex b/03-epipolar-geometry/03-epipolar-geometry.tex index 4262da4..71d969c 100644 --- a/03-epipolar-geometry/03-epipolar-geometry.tex +++ b/03-epipolar-geometry/03-epipolar-geometry.tex @@ -301,7 +301,7 @@ \section{Image Rectification} \end{equation} for some vector $v$. In practice, defining $M$ by setting $v^T=\begin{bmatrix}1 & 1 & 1\end{bmatrix}$ works very well. -To finally solve for $H_1$, we need to compute the $\mathbf{a}$ values of $H_A$. Recall that we want to find a $H_1, H_2$ to minimize the problem posed in Equation~\ref{eq:rectification_minimization}. Since we already know the value of $H_2$ and $M$, then we can substitute $\hat{p}_i = H_2Mp_i$ and $\hat{p}_i' = H_2p_i'$ and the minimization problem becomes +To finally solve for $H_1$, we need to compute the $\mathbf{a}$ values of $H_A$. Recall that we want to find a $H_1, H_2$ to minimize the problem posed in Equation~\ref{eq:rectification_minimization}. Since we already know the value of $H_2$ and $M$, then we can substitute $\hat{p}_i = H_AH_2Mp_i$ and $\hat{p}_i' = H_2p_i'$ and the minimization problem becomes \begin{equation} \arg \min_{H_A} \sum_i \|H_A\hat{p}_i - \hat{p}_i'\|^2 \end{equation}