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Category: OpenCV

CamCal 011 Fundamental Matrix

Highlights: In this post we will learn about fundamental matrix and we will continue our series about stereo vision. In the last post we concluded that if we have enough points we should be able to figure out the constraints for the epipolar line. So for this, we will need to calculate a fundamental matrix. Tutorial Overview: Weak calibration Uncalibrated Case Matrix Multiplication Properties of the Fundamental Matrix Intro In previous posts we have developed…
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CamCal 009 Stereo Geometry – Epipolar lines and Essential Matrix

Highlights: In this post we continue our talk about stereo geometry. We will show the relation between two calibrated cameras. The goal is to transform geometry into algebra, so then the computer can understand it. Tutorial Overview: This post covers the following topics: Intro Stereo Correspondence Stereo Geometry Cross Product 1 From Geometry to Algebra Cross Product 2 Essential Matrix 1. Intro Before we start, we have to remind ourself some things. So first thing…
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CamCal 003 Camera Transformation

Highlights: In this post we will talk about camera calibration technique, and rigid body transformations. You will also see how translation and rotation works. Tutorial Overview: Intro Geometric camera calibration Rigid body transformations´╗┐ Notation Rotation 1. Intro In this post, we’re going to talk about extrinsic camera calibration and here is the model that we are going to use. In particular, we had a system where we had a center of projection (COP) that was…
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Harris Corner Detector 013

OpenCV #013 Harris Corner Detector – Theory

Highlights: In this post we will learn about Harris Corner Detector and how can we use this method to detect corners. We will give a brief overview how this method works, but we’ll not go so seriously with mathematics. We promise ­čÖé What is Harris Corner Detector? In many computer vision and machine learning applications we need some feature points which we will track or which will assist us to compare and detect objects or…
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CamCal 010 Essential Matrix Computation – an example

Highlights: In this post we will show some essential matrix computation for the example of parallel cameras. In addition, you will see why it can be useful for. Tutorial Overview: This post covers the following topics: Computation The use of the Essential Matrix 1. Computation In the last post we talked about essential matrix and what it does. Now we are going to show how it is computed. So we have two parallel image planes,…
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