Estimate Homography to do 2D to 3D integration (31): EPnP results by using "Kin2Kin case"

Intrinsic parameter of Kinect camera. 

I. Estimation mapping position of 50 points in the camera reference:

EGNs are the position after considering translation (Tp_G), Es are not.

Rotation matrix generating from EPnP.

Translation matrix generating from EPnP.

Ground truth position. 

Estimated position before considering translation.

Estimated position after considering translation.

II. Estimation mapping position of 4 points in the camera reference:

EGNs are the position after considering translation (Tp_G), Es are not.

Rotation matrix generating from EPnP.

Translation matrix generating from EPnP.

Ground truth position. 

Estimated position before considering translation.

Estimated position after considering translation.

III. Errors when comparing the position of 50-point-case / 4-point-case to the Ground Truth:
       
       - The statistics shows a correlated results that "Giving more points up to 50" is able to provide more stable and precise estimation in "computing the 3D corresponding position to 2D".

Ground truth.

Estimated position of EGN-50 after considering translation.

Estimated position of EGN-4 after considering translation.

Differences of  "EGN-50 vs GT"  and  "EGN-4 vs GT

IV. Do the same experiment on the Webcam:

       - Check the calibration result is reasonable

       - Generating testing images

       - Locating 50 points the mapped 2D points in images to the 3D ones in Kinect frame (...using the Kinect frame showing above)

"Lie on plane" case 1 with marks.

"Lie on plane" case 2 with marks.

"Above the plane" case 1 with marks.

"Above the plane" case 2 with marks.