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POHow to test the fundamental matrix?
 

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  1. POHow to test the fundamental matrix?
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    <p>In my application, I use 2 cameras for 3D object reconstruction. To calibrate the cameras, I compute the fundamental matrix using 2 sets of images in order to find the camera pose (rotation and translation). I use SVD to find the R and T. But when I try to check the accuracy of my matrices, it doesn't work at all: the position of the reconstructed points doesn't feat with the real positions.</p> <p>How can I check if I am in the right way?</p> <p>Here is my Matlab code that i use :</p> <pre><code>D2=[-0.168164529475, 0.110811875773, -0.000204013531649, -9.05039442317e-05, 0.0737585102411]; D1=[-0.187817541965, 0.351429195367, -0.000521080240718, -0.00052088823018, -1.00569541826]; K2=[2178.5537139, 0.0, 657.445233702;0.0, 2178.40086319, 494.319735021;0.0, 0.0, 1.0]; K1=[2203.30000377, 0.0, 679.24264123;0.0, 2202.99249047, 506.265831986;0.0, 0.0, 1.0]; load pts1.dat; % load image points from CAM42 load pts2.dat; % load image points from CAM49 % calcul de la matrice fondamentale disp('Finding stereo camera matrices ...'); disp('(By default RANSAC optimasation method is used.)'); disp('- 4 : LTS'); disp('- 3 : MSAC'); disp('- 2 : RANSAC'); disp('- 1 : Norm8Point'); disp('- 0 : LMedS'); c = input('Chose method to find F :', 's'); if nargin &gt; 0 switch c case 4 method = 'LTS'; case 3 method = 'MSAC'; case 2 method = 'RANSAC'; case 1 method = 'Norm8Point'; otherwise method = 'LMedS'; end else method = 'RANSAC'; end %F = estimateFundamentalMatrix(points2', points1', 'Method', method, 'NumTrials', 4000, 'DistanceThreshold', 1e-4) % calcul de la matrice essentielle E = K2' * F * K1; % calcul de R et T à partir de la décomposition SVD [U S V] = svd(E); Z = [0 -1 0; 1 0 0; 0 0 0]; % matrice anti-symetrique W = [0 -1 0; 1 0 0; 0 0 1]; % matrice orthogonale fprintf(sprintf('\ndev(Vt) = %f', det(V'))); fprintf(sprintf('\ndet(U) = %f', det(U ))); Ra = U * W * V' Rb = U * W'* V' T = U * Z * U'; T0 = U(: , 3) T = [T(2,1); -T(3, 1); T(3, 2)]; disp('======================='); % R1 = [Ra T0] % R2 = [Ra -T0] % R3 = [Rb T0] % R4 = [Rb -T0] % test des matrices trouvées. --------------------------------------------- pti = 10; % point index x1 = points1(pti,:)'; disp('x1 (real):'); x1 = [x1;1] x2 = points2(pti,:)'; disp('x2 (real):'); x2 = [x2;1] disp('==========='); x2 = Ra*x1 + T0 % [Ra, T0] x2 = Ra*x1 - T0 % [Ra, -T0] x2 = Rb*x1 + T % [Rb, T0] x2 = Rb*x1 - T % [Rb, -T0] fprintf('\nx1t*F*x2 = %f\n',x2'*F*x1); disp('Epipolar line'); l1 = F*x1 l2 = F*x2 </code></pre> <p>Thank you.</p>
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