1. 3-D Reconstruction
a) Using a digital camera and take a stereo image of a single object. Take two pictures from slightly different camera positions. Ideally, the object takes up a large portion of the frame. Manually identify and label visually 𝑛𝑛 (𝑛𝑛≫ 8) corresponding points in both pictures. You will need to identify the image coordinates of these points as well.
b) Assume world coordinate system is centered at 1st camera pinhole with Z along viewing direction. Use 8-point algorithm to estimate the essential matrix using some of the above corresponding points. Recover rotation matrix and translation matrix. (Show your calculation step)
c) Print a checkerboard image. Take a few images of the checkerboard and then use them to calibrate your camera. Show your camera parameters in the report.
d) (4pts) Reconstruct the 3-D locations of points and display the 3-D point cloud.
