= +-1.0, this is not a rotation matrix"<<endl; return false; } return true; } We can now see how all these elements combine into a function that recovers the P matrices, as follows: void FindCameraMatrices(const Mat& K, const Mat& Kinv, const vector...
void FindCameraMatrices(const Mat& K,const Mat& Kinv, const vector<KeyPoint>& imgpts1, const vector<KeyPoint>& imgpts2, Matx34d& P,Matx34d& P1, vector<DMatch>& matches, vector<CloudPoint>& outCloud) { //找到相机矩阵F //得到基础矩阵 Mat F = GetFundamentalMat(imgpts1,imgpts2,matc...
finds fundamental matrix from a set of corresponding 2D pointsCV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,intmethod=FM_RANSAC,doubleparam1=3.,doubleparam2=0.99, OutputArray mask=noArray()); 参数说明: points1,points2 两幅图像间相匹配的点,点的坐标要是浮点数(float...
HOMOGRAPHY_MATRIX、FUNDAMENTAL_MATRIX、ESSENTIAL_MATRIX、 ESSENTIAL_MATRIX_ANGULAR、ESSENTIAL_MATRIX_ORTHO、ESSENTIAL_MATRIX_UPRIGHT 各种方式的优点缺点见论文哦 //ImageCollectionGeometricFilter //只允许保持几何一致的匹配 //它丢弃了不能产生有效鲁棒模型估计的对 std::unique_ptr<ImageCollectionGeometricFilter> filte...
// because the output fundamental matrix implicitly // includes all the output information, // we can check the quality of calibration using the // epipolar geometry constraint: m2^t*F*m1=0 double err = 0; int npoints = 0; vector<Vec3f> lines[2]; ...
multiple times returns always the same fundamental matrix and number of inliers (FM_RANSAC can be replaced with any other USAC method). This is caused by a random seed initialised always to the same value in the OpenCV source code.
Here, is an × 9 matrix derived from ≥ 8 correspondences and f is the value of the Fundamental matrix we desire.This system of equations from above, can be answered by solving the linear least squares by Singular Value Decomposition (SVD). After we find the value of , we can use this...
fundamental matrix related to a pair of stereo cameras. References M. A. Fischler and R. C. Bolles (June 1981). "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography". Comm. of the ACM 24: 381--395. ...
27.Mat::row:creates a matrix header for thespecified matrix row; 28.Mat::col:creates a matrix header for thespecified matrix column; 29.Mat::rowRange:creates a matrix header for thespecified row span; 30.Mat::colRange:creates a matrix header for thespecified col span; ...
fundamental matrix related to a pair of stereo cameras. References M. A. Fischler and R. C. Bolles (June 1981). "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography". Comm. of the ACM 24: 381--395. ...