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This repository was archived by the owner on Mar 9, 2026. It is now read-only.
intrinsics K in FundamentalFromMotionAndCameras. #124
Description
I'm working on the two_view_geometry. I found some code here in fuction FundamentalFromMotionAndCameras.
void FundamentalFromMotionAndCameras(const Camera& camera1,
const Camera& camera2,
const Rigid3d& pose,
Eigen::Matrix3d* F) {
Eigen::Matrix3d E;
EssentialFromMotion(pose, &E);
*F = camera1.GetK().transpose().inverse() * E * camera2.GetK().inverse();
}
In this function, parameter pose means T_cam2_from_cam1.
Should the FundmentalMatrix be *F = camera2.GetK().transpose().inverse() * E * camera1.GetK().inverse();,
rather than *F = camera1.GetK().transpose().inverse() * E * camera2.GetK().inverse();?
Activity
zhan994 commentedon Oct 18, 2024
I've made a pull request here: #125 (comment)
lionlai1989 commentedon Oct 18, 2024
I think how
FundamentalFromMotionAndCamerasis used matters.The caller looks like:
FundamentalFromMotionAndCameras( camera1, camera2, image_pair.cam2_from_cam1, &image_pair.F); }Base on my understanding of essential and fundamental matrix, it looks like a bug indeed.