[英]How do I compute the fundamental matrix from Kitti dataset?
我正在研究Kitti立体数据集( http://www.cvlibs.net/datasets/kitti/eval_stereo.php ),我想计算基本矩阵,这在校准文件中没有给出。 但是,对于一对立体图像,给出以下信息:
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
如何从这些计算基本矩阵?
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
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