Strange behavior of findFundamentalMat + RANSAC

asked 2014-08-04 06:38:35 -0500

yzmtf2008 gravatar image

updated 2014-08-04 06:39:52 -0500

I'm using findFundamentalMat + RANSAC to calculate the fundamental matrix of a stereo rig. However, it seems that it is not giving stable outputs.

For every run of the same scene, it gives wildly different outputs. The epipoles are drifting rapidly, and they sometimes appear inside the image. However, when both of the epipoles are inside the image, it seems that the two points are correspondent points.

Why is this happening?

[screenshot]

When the epipoles are inside the images

When the epipoles are outside the images

import numpy as np
import cv2
from libcv import video
from matplotlib import pyplot as plt

cap1 = video.create_capture(1)
cap2 = video.create_capture(2)

while True:
    ret, img1 = cap1.read()
    ret, img2 = cap2.read()
    img1 = cv2.cvtColor(img1,cv2.COLOR_BGR2GRAY)
    img2 = cv2.cvtColor(img2,cv2.COLOR_BGR2GRAY)
    sift = cv2.SIFT()

    # find the keypoints and descriptors with SIFT
    kp1, des1 = sift.detectAndCompute(img1,None)
    kp2, des2 = sift.detectAndCompute(img2,None)

    # FLANN parameters
    FLANN_INDEX_KDTREE = 0
    index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
    search_params = dict(checks=50)

    flann = cv2.FlannBasedMatcher(index_params,search_params)
    matches = flann.knnMatch(des1,des2,k=2)

    good = []
    pts1 = []
    pts2 = []

    # ratio test as per Lowe's paper
    for i,(m,n) in enumerate(matches):
        if m.distance < 0.6*n.distance:
            good.append(m)
            pts2.append(kp2[m.trainIdx].pt)
            pts1.append(kp1[m.queryIdx].pt)

    pts1 = np.int32(pts1)
    pts2 = np.int32(pts2)
    F, mask = cv2.findFundamentalMat(pts1,pts2,cv2.FM_RANSAC)

    # We select only inlier points
    pts1 = pts1[mask.ravel()==1]
    pts2 = pts2[mask.ravel()==1]

    def drawlines(img1,img2,lines,pts1,pts2):
        ''' img1 - image on which we draw the epilines for the points in img2
            lines - corresponding epilines '''
        r,c = img1.shape[:2]
        img1 = cv2.cvtColor(img1,cv2.COLOR_GRAY2BGR)
        img2 = cv2.cvtColor(img2,cv2.COLOR_GRAY2BGR)
        for r,pt1,pt2 in zip(lines,pts1,pts2):
            color = tuple(np.random.randint(0,255,3).tolist())
            x0,y0 = map(int, [0, -r[2]/r[1] ])
            x1,y1 = map(int, [c, -(r[2]+r[0]*c)/r[1] ])
            img1 = cv2.line(img1, (x0,y0), (x1,y1), color,1)
            img1 = cv2.circle(img1,tuple(pt1),5,color,-1)
            img2 = cv2.circle(img2,tuple(pt2),5,color,-1)
        return img1,img2

    # Find epilines corresponding to points in right image (second image) and
    # drawing its lines on left image
    lines1 = cv2.computeCorrespondEpilines(pts2.reshape(-1,1,2), 2,F)
    lines1 = lines1.reshape(-1,3)
    img5,img6 = drawlines(img1,img2,lines1,pts1,pts2)

    # Find epilines corresponding to points in left image (first image) and
    # drawing its lines on right image
    lines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1,F)
    lines2 = lines2.reshape(-1,3)
    img3,img4 = drawlines(img2,img1,lines2,pts2,pts1)
    cv2.imshow('img6', img6)
    cv2.imshow('img5', img5)
    cv2.imshow('img4', img4)
    cv2.imshow('img3', img3)
    ch = 0xFF & cv2.waitKey(5)
    if ch == 27:
        break
edit retag flag offensive close merge delete

Comments

A small guess, clone the images before applying the sift operator. You are now assigning continuous the same pointer, so your data gets processed by the operator possible leading to unexpected behaviour.

StevenPuttemans gravatar imageStevenPuttemans ( 2014-08-04 08:12:06 -0500 )edit