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How to calculate Essential Matrix?

asked 2016-12-11 01:29:26 -0500

asadabbas057 gravatar image

updated 2016-12-11 11:19:59 -0500

berak gravatar image

I have used used BRISK features for feature matching as shown in code below and now want to calculate Essential Matrix can you let me know how to do it.I would like the detailed answers.

import cv2
import matplotlib.pyplot as plt
img1 = cv2.imread('D:\IMG_0112.jpg', 0)
img2 = cv2.imread('D:\IMG_0113.jpg',0)
brisk=cv2.BRISK_create();
kp1, des1 = brisk.detectAndCompute(img1,None)
kp2, des2 = brisk.detectAndCompute(img2,None)
bf= cv2.BFMatcher()
matches = bf.knnMatch(des1,des2,k=2)
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answered 2016-12-12 03:12:53 -0500

berak gravatar image

you'll pretty much have to do this in the same way done here , which is:

  • match your descriptors, to find corresponding keypoints
  • filter out bad matches
  • extract 2d points from the keypoints

then , call findExtrinsicMat with corresponding point arrays.

good luck !

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Asked: 2016-12-11 01:29:26 -0500

Seen: 270 times

Last updated: Dec 12 '16