CentralCamera.F

CentralCamera.F(other: CentralCamera | SE3) → ndarray

Fundamental matrix

Parameters:

other (CentralCamera, SE3) – second camera view

Returns:

fundamental matrix

Return type:

numpy(3,3)

Compute the fundamental matrix relating two camera views. The first view is defined by the instance. The second is defined by:

• another CentralCamera instance

• an SE3 pose describing the pose of the second view with respect to the first, assuming the same camera intrinsic parameters.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import SE3
>>> camera1 = CentralCamera(name="camera 1", f=0.002, imagesize=1000, rho=10e-6, pose=SE3.Tx(-0.1)*SE3.Ry(0.4))
>>> camera2 = CentralCamera(name="camera 2", f=0.002, imagesize=1000, rho=10e-6, pose=SE3.Tx(0.1)*SE3.Ry(-0.4))
>>> F = camera1.F(camera2)
>>> F
array([[ 0.    , -0.    ,  0.001 ],
       [-0.    ,  0.    ,  0.0019],
       [ 0.001 ,  0.0001, -0.9735]])
>>> F = camera1.F(SE3.Tx(0.2))
>>> F
array([[ 0.   ,  0.   ,  0.   ],
       [ 0.   ,  0.   ,  0.001],
       [ 0.   , -0.001,  0.   ]])

References:

• Y.Ma, J.Kosecka, S.Soatto, S.Sastry, “An invitation to 3D”, Springer, 2003. p.177

• P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 14.2.1.

Seealso:

points2F E