findFundamentalMat from optical flow for FOE!

asked 2013-06-05 11:08:55 -0500

munis gravatar image


I'm trying to find the Focus of Expension (FOE) in a video to get the time to contact. From what I understand I have to calculate the optical flow, get the funamental matrix and calculate the epipole through the openCV build-in function for finding the epipolar lines. So far, so good. I've got the optical flow working and showing on a seperate image but i'm stuck at the findFundamentalMatrix function.

What kind of Mat or points do I have to give to that function as arguments when my starting point is a sequence of images from a video? I tried with two consecutive images from the video and with the images I got as a result from the optical flow calculation.

I'd be really thankful for any advide on the matter!


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