I am working on recover camera pose, and I find function “findFundamentalMat” is meeting my demand.
I use two pictures to test the function and I find the result is totally different from the groundtruth.
the groundtruth:
-0.00159667898140620, -8.72058017999111e-06, 0.316652434759661
-2.16127678781819e-05, -0.00158625683761970, 1.11373685604121
0.262435670691666, 0.331946203815605, -283.228692239803
opencv result
1.953203966040189e-05, 8.961012578551305e-06, -0.01090172567844355
-6.870585355499721e-06, 1.411090498435541e-05, -0.0006539274861616769
-0.002563151426431788, 0.0004801433335995991, 1
the key code:
cv::Mat fm = cv::findFundamentalMat(
ltpoints,rtpoints,cv::FM_RANSAC,1.3824,0.99,1000
);
points data:
booshA(first picture):
x: 389.504000000000, 293.820640000000, 210.426000000000, 219.404512000000, 272.230000000000, 332.427892000000, 400.804000000000, 364.580000000000, 401.070000000000, 309.980000000000
y:
150.203200000000, 149.046496000000, 225.006000000000, 376.297696000000, 390.070000000000, 370.656700000000, 265.252000000000, 341.280000000000, 145.970000000000, 148.870000000000
bookshB(second picture)
x:
30.9339999999999, 33.8219199999999, 244.690144000000, 696.890000000000, 745.778000000000, 681.666784000000, 353.044000000000, 576.400000000000, 17.5000000000000, 33.5000000000000
y:
44.2899999999998, 331.913440000000, 557.776096000000, 521.706000000000, 358.558000000000, 181.142752000000, 35.7159999999998, 112.900000000000, 8.36000000000000, 295.500000000000
picture comes from: [kusvod2]
correspondence connection as follows:
