Essential matrix from the fundamental matrix in OpenCV

Question

I have already calculated the basic matrix of the stereo pair through the corresponding points found using SURF. According to Hartley and Sisserman, the Essential Matrix is ​​calculated as follows:

E = K.t() * F * K

How do I get K? Is there any other way to calculate E?

Answer 1

I do not know where you got these formulas, but the correct one E = K'^T . F . K(see Hartley and Zisserman, §9.6, p. 257 of the second edition)

K - These are internal camera parameters containing scale factors and the position of the center of the image, expressed in units of pixels.

    | \alpha_u     0     u_0 |
K = |    0      \alpha_u v_0 |
    |    0         0      1  |

(sorry, Latex is not supported on SO)

. , :

• , . , u_0 v_0 , , . alpha = k.f f: (m.) k - : , , 6 , k=1/6um. , 8 8um, alpha=1000

E

, E, , , R t ( ) , E - t R.

, .

, !