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我可以从具有少量匹配关键点但没有内在参数的基本矩阵中获得基本矩阵吗？

[英]Can I get Essential Matrix from Fundamental matrix with few matching keypoints, but without intrinsic parameters?

原文 2022-01-13 08:33:20 7 1 python/ opencv/ matrix/ camera-calibration

Firstly I guess this question might be duplicated, but I couldn't find it.首先，我想这个问题可能是重复的，但我找不到。

Question.问题。 It's actually in the title.它实际上在标题中。

Can I get Essential Matrix from Fundamental matrix with few matching keypoints, but without intrinsic parameters?我可以从具有少量匹配关键点但没有内在参数的基本矩阵中获得基本矩阵吗？

Situation.情况。 I am trying to find Essential matrix.我正在尝试找到基本矩阵。 I use my phone camera to take photos, and then extract keypoints using SIFT(or ORB).我使用手机摄像头拍照，然后使用 SIFT（或 ORB）提取关键点。 I have 2 images of an object and it's matching points.我有 2 张 object 的图像及其匹配点。 I could get F, Fundamental Matrix but I have no idea how to get Essential Matrix from this.我可以得到 F，基本矩阵，但我不知道如何从中得到基本矩阵。 I don't have camera intrinsic parameters, such as Fx, Fy, Cx, Cy.我没有相机内在参数，例如 Fx、Fy、Cx、Cy。 I am stuck to this situation.我坚持这种情况。 I googled but couldn't get answers.我用谷歌搜索但无法得到答案。 Let me know if it's duplicated then I'd delete this.让我知道它是否重复，然后我会删除它。

PLUS: I also don't have camera coordinates or world coordinates. PLUS：我也没有相机坐标或世界坐标。

1 个解决方案

No you can't, you need to know the metric size of the pixel and the focal because essential matrix is in the real world.不，你不能，你需要知道像素和焦点的度量大小，因为基本矩阵在现实世界中。