Am 11.01.2013 12:04, schrieb handos:

> Great! Thanks for letting me know that the anti-aliasing depth thing is fine. So
> it is now back to the recovering camera parameters i.e. the Rotation and
> Translation of the camera with respect to the world frame of reference.

You've given only one set of camera parameters, but you have two images 
- can you also post the other set of camera parameters? (Please make 
sure to identify which is which.)

The camera translation T looks perfectly fine. I'm not so sure about the 
rotation matrix R: It may or may not need flipping about the diagonal, 
depending on whether you consider position vectors to be 1x3 or 3x1 
matrices. (Classic vector arithmetics typically uses the former 
convention, while computer graphics often uses the latter one.)

Another thing to beware is that POV-Ray by default uses a left-handed 
coordinate system. Did you account for that?

You can force POV-Ray to use a right-handed coordinate system by 
specifying the camera as

camera {
   right      x*ASPECT_RATIO
   up         y
   direction -z
   location <...>
   look_at <...>
   angle ...
   ...
}

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