FF = u2F( u1, u2 )
Create function u2F
computes the fundamental matrix using the sevenpoint 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, …};
).
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 (1based). There is also list of 12 indices of points ix
, (1based) that should be used for estimating epipolar geometry.
F
relating the images above: generate all 7tuples from the selected set of 12 correspondences, estimate F
for each of them and chose the one, that minimizes maximal epipolar error over all matches.
F
, compute the corresponding epipolar lines and draw them into the images in corresponding colours (a line segment given by the intersection of the image area and a line must me computed). Export as 08_eg.pdf
.
d1_i
and d2_i
for all points (point index on horizontal axis, the error on vertical axis). Draw both graphs into single figure (different colours) and export as 08_errors.pdf
.
08_data.mat
: the input data u1
, u2
, ix
, the indices of the 7 points used for computing the optimal F
as point_sel
and the matrix F
.
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 ith match is defined as d1_i + d2_i
.
Upload an archive consisting of:
matlab  python 

08_eg.pdf 

08_errors.pdf 

08_data.mat 

u2F.m  
hw08.m  hw08.py containing the u2F function 
any other files required by your solution (including data and files from the repository).