Line | |
---|
1 | % By Philip Torr 2002
|
---|
2 | % copyright Microsoft Corp.
|
---|
3 | %this function will convert an fundamental matrix to a rotation and translation martix
|
---|
4 | %then establish a suitable frame eliminating the spurious solutions using constraints
|
---|
5 | %as set out in Hartley and Zisserman.
|
---|
6 | %and a suitable self calibration method!
|
---|
7 |
|
---|
8 | %note E + T_x R
|
---|
9 | %%%
|
---|
10 | %F is the fundamental matrix, C is the calibration matrix
|
---|
11 | % C = 1 0 x_0
|
---|
12 | % 0 1 y_0
|
---|
13 | % 0 0 1/f
|
---|
14 | %where 1/f is the best estimate so far of the focal length
|
---|
15 |
|
---|
16 | %also returns the structure
|
---|
17 |
|
---|
18 | function [P1,P2,X] = torr_FtoP(F,C, matches)
|
---|
19 |
|
---|
20 | focal_lenth = torr_self_calib_f(F,C);
|
---|
21 |
|
---|
22 | [Tx,R1,R2] = torr_EtoRt(E)
|
---|
23 |
|
---|
24 | %next correct the matches to make them lie on the optimal epipolar lines
|
---|
25 |
|
---|
26 |
|
---|
27 |
|
---|
28 | %next solve for one of the four possible solutions:
|
---|
29 |
|
---|
30 |
|
---|
31 | Tx
|
---|
32 | R1
|
---|
33 | R2
|
---|
34 |
|
---|
35 |
|
---|
36 | P1 = ones(3,4);
|
---|
37 | P2 = ones(3,4);
|
---|
38 |
|
---|
39 |
|
---|
40 | %next we need to look at a single point to determine if it is front of both cameras; |
---|
Note: See
TracBrowser
for help on using the repository browser.