I'm pretty new to OpenCV and trying to puzzle together a monocular AR application getting structure from motion. I've got a tracker up and running which tracks points pretty well as the optical flow looks good. It needs to work on uncalibrated cameras.
From the point correspondences I get the fundamental matrix from findFundamentalMat, but I'm lost at how to get the camera projection matrix. Matrix math is not my strong suit, and for all my google foo all I can find are examples using pre-calibrated cameras.
- Find fundamental matrix using findFundamentalMat (check!)
- Find epilines with computeCorrespondEpilines (check!)
- Extract projection matrix P and P1 (????)
P is identity matrix for the uncalibrated case, but how do I get P1?