CentralCamera.points2F

static CentralCamera.points2F(p1: ndarray, p2: ndarray, method: str = '8p', residual: bool = True, seed: int | None = None, **kwargs) → list

Estimate fundamental matrix from corresponding points

Parameters:

• p1 (ndarray(2,N)) – image plane points from first camera

• p2 (ndarray(2,N)) – image plane points from second camera

• method (str, optional) – algorithm ‘7p’, ‘8p’ [default], ‘ransac’, ‘lmeds’

• kwargs – optional arguments as required for ransac’, ‘lmeds’ methods

Returns:

fundamental matrix and residual

Return type:

ndarray(3,3), float

Computes the fundamental matrix from two sets of corresponding image-plane points. Corresponding points are given by corresponding columns of p1 and p2.

Example:

>>> from machinevisiontoolbox import CentralCamera, mkgrid
>>> 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))
>>> T_grid = SE3.Tz(1) * SE3.Rx(0.1) * SE3.Ry(0.2)
>>> P = mkgrid(3, 1.0, pose=T_grid)
>>> p1 = camera1.project_point(P)
>>> p2 = camera2.project_point(P);
>>> F, resid = CentralCamera.points2F(p1, p2)
>>> F
array([[-0.0001,  0.0005, -0.2083],
       [-0.0006, -0.    ,  0.2645],
       [ 0.3044, -0.3069,  1.    ]])
>>> resid
np.float64(2.2567392544778285e-06)

Seealso:

F E opencv.findFundamentalMat