ECE 564 Computer Vision Assignment 8

Submit HTML documentation and MATLAB code on Isidore.

  1. Do a MATLAB camera calibration on the images in the Isidore resource gopro_pix.zip. Calculate the horizontal half-angle fied of view. Show the distortion and plot the radial distortion vs radius, as you did in prob 6 of asgn 5. Produce an undistorted image of GOPR0358.JPG.

  2. Starting with the code in coverage.m, show the center of projection on the plot and calculate the largest radial distance from the center. Find the radial distortion for that point on the plot from the previous problem

  3. Use an image set (two images) of your product. Use cpselect to choose matching points from each image. Use estimateFundamentalMatrix to calculate the Fundamental matrix and verify that img2*F*img1' = 0 for matching image points. Calculate the Essential matrix from the fundamental matrix, using your intrinsic matrix from an earlier calibration.

  4. Use the same image set. Find the extrinsics (R and T) using the checkerboard corners. Use the extrinsics to find the Essential matrix. Verify that x2*E*x1' = 0 for matching normalized camera points. Then calculate the Fundamental matrix from the Essential matrix. Compare to the fundamental matrix calculated in the previous problem.

  5. Use the same image set and fundamental matrices deterined earlier. Select a feature in image 1 and its corresponding image point (img1) to determine the epipolar line in image 2. Draw the line on image 2 and verify that it passes through (or very close to) the matching point in image 2. Draw two such epipolar lines and calculate their intersection. Show that this point (epipole) can be obtained from null(F).


Maintained by John Loomis, last updated 18 April 2016