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Undistort images or not before finding the Fundamental/Essential Matrix?

asked 2016-11-26 17:09:05 -0500

Hilman gravatar image

I am quite confused right now. In order to find the Fundamental Matrix and the Essential Matrix, my common way is by first, undistort the images before did the other processes like detecting keypoints, matching the keypoints, find the Fundamental Matrix and then, the Essential Matrix. Is this correct? Can I not undistort the images in order to find the Fundamental Matrix and the Essential Matrix?

Another question is, as for the function findEssentialMat of the OpenCV, does it operate on the undistorted points, or distorted points, or both?

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answered 2016-11-26 19:00:37 -0500

Tetragramm gravatar image

Undistort first, although if you like, you can merely undistort the matched points rather than the whole image. That saves some processing power if you don't need the undistorted images for anything else.

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Asked: 2016-11-26 17:09:05 -0500

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Last updated: Nov 26 '16