How do I compute the fundamental matrix from Kitti dataset?

Question

I am working on the Kitti stereo dataset ( http://www.cvlibs.net/datasets/kitti/eval_stereo.php ) and I want to compute the fundamental matrix, which was not given in the calib file. However, for a pair of stereo images, the following info are given:

S_xx: 1x2 size of image xx before rectification
K_xx: 3x3 calibration matrix of camera xx before rectification
D_xx: 1x5 distortion vector of camera xx before rectification
R_xx: 3x3 rotation matrix of camera xx (extrinsic)
T_xx: 3x1 translation vector of camera xx (extrinsic)
S_rect_xx: 1x2 size of image xx after rectification
R_rect_xx: 3x3 rectifying rotation to make image planes co-planar
P_rect_xx: 3x4 projection matrix after rectification

How do I compute the fundamental matrix from these?

Answer 1

如果您在两台摄像机之间进行平移和旋转，则可以使用以下信息： https ： //en.wikipedia.org/wiki/Essential_matrix计算基本矩阵，然后使用摄像机固有校准矩阵计算基本矩阵如https://en.wikipedia.org/wiki/Fundamental_matrix_(computer_vision）中所述