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ComputerVision- Homework 4: SfM Solved
Just to let you get initial experience on SfM
1.In this homework, you have to work twoon imagesnot only the given data but your own photos. know intrinsic matrix
,
1.4219 0.0005 0.5092
K = , 0 1.4219 0.3802
2.You are allowed to use any camera calibration 0 related 0 0.0010 functions.
Steps
find out correspondence acrossimages
3.2. estimate the Deadline:fundamental 2020/6/2matrix across images (normalized 823:59:59 (二) points)
draw the interest points on you found in step.1 in oneimage and the corresponding epipolar lines in another
Just to let you get initial experience on SfM
two images know intrinsic matrix
1.4219 0.0005 0.5092
K = 0 1.4219 0.3802
0 0 0.0010
Steps
1.find out correspondence across images
2.estimate the fundamental matrix across images (normalized 8 points)
3.draw the interest points on you found in step.1 in one image and the corresponding epipolar lines in another
Just to let you get initial experience on SfM
two images know intrinsic matrix
1.4219 0.0005 0.5092
K = 0 1.4219 0.3802
0 0 0.0010
Steps
1.find out correspondence across images
2.estimate the fundamental matrix across images (normalized 8 points)
3.draw the interest points on you found in step.1 in one image and the corresponding epipolar lines in another
4.get 4 possible solutions of essential matrix from fundamental matrix, hint:
[U,S,V] = svd(E); m = (S(1,1)+S(2,2))/2;
E = U*[m,0,0;0,m,0;0,0,0]*V';
[U,S,V] = svd(E);
W = [0,-1,0;1,0,0;0,0,1];
Just to let you get initial experience on SfM
two images know intrinsic matrix
1.4219 0.0005 0.5092
K = 0 1.4219 0.3802
0 0 0.0010
Steps
1.find out correspondence across images
2.estimate the fundamental matrix across images (normalized 8 points)
3.draw the interest points on you found in step.1 in one image and the corresponding epipolar lines in another
4.get 4 possible solutions of essential matrix from fundamental matrix
5.find out the most appropriate solution of essential matrix
6.apply triangulation to get 3D points
Just to let you get initial experience on SfM
two images know intrinsic matrix
1.4219 0.0005 0.5092
K = 0 1.4219 0.3802
0 0 0.0010
Steps
1.find out correspondence across images
2.estimate the fundamental matrix across images (normalized 8 points)
3.draw the interest points on you found in step.1 in one image and the corresponding epipolar lines in another
4.get 4 possible solutions of essential matrix from fundamental matrix
5.find out the most appropriate solution of essential matrix
6.apply triangulation to get 3D points
7.use texture mapping to get a 3D model (matlab code will be provided)
obj_main(3dPoints, 2dPoints, CameraMatrix, ’Mesona1.JPG’, 1);
KI | 0
Homework - SfM
Just to let you get initial experience on SfM
two images
know intrinsic matrix know extrinsic matrix
(extrinsic for your reference)
P KR,RT
Just to let you get initial experience on3 SfM
‣For your own photos:
two images know intrinsic matrix
,
Take your own photos 1.4219 0.0005 0.5092 K = , 0 1.4219 0.3802
Do calibration on your photos 0 0 0.0010
Steps
find out correspondence acrossimages
- Reconstruct 3D model
estimate the fundamental matrix across images (normalized 8points)
draw the interest points on you found in step.1 in oneimage
‣For and the the corresponding epipolar given data: lines in another
