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FF = u2F( u1, u2 )
Create function u2F computes the fundamental matrix using the seven-point algorithm from 7 euclidean correspondences u1, u2, measured in two images. For constructing the third order polynomial from null space matrices G1 and G2, there is the u2F_polynom function in the tools repository, that can be used in your code. There can be multiple solutions; return all solutions as a list of matrices (np.array) in python (FF = [ F1, F2, … ]) or a cell array of matrices in matlab (FF = { F1, F2, …};).
u2F
u1
u2
G1
G2
u2F_polynom
np.array
FF = [ F1, F2, … ]
FF = { F1, F2, …};
The images and the point correspondences can be downloaded from the InputData.
There is a set of point matches between the images above. Additionaly, there is list of edges - indices of a points, that form an edge (1-based). There is also list of 12 indices of points ix, (1-based) that should be used for estimating epipolar geometry.
edges
ix
F
08_eg.pdf
d1_i
d2_i
08_errors.pdf
08_data.mat
point_sel
Epipolar error: for a particular fundamental matrix F, compute epipolar lines in the second image for all points in the first image, and vice versa. Then evaluate the Euclidean distances between a point and corresponding epipolar line for all points in both images, i.e. d1_i and d2_i. The epipolar error for the i-th match is defined as d1_i + d2_i.
d1_i + d2_i
Upload an archive consisting of:
u2F.m
hw08.m
hw08.py
any other files required by your solution (including data and files from the repository).