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| //The computeFondamentalMatrix method allow us to compute the Fondamental matrix from the extrinsic parameters
CvMat Stereo::ComputeFondamentalMatrix(double rotL[],double rotR[],double intrinsicL[],
double intrinsicR[], double tranL[], double tranR[])
{ //we have recover the intrinsic camera parameters from calibration
//we can compute the essential and the fundamental matrix
//CvMat declaration - rot vectr, rot matrix, intrinsic matrix L and R
;
int i,j;
CvMat Intrinsic_L = cvMat( 3, 3, CV_64FC1, intrinsicL ); //paramètres intrinsèques
CvMat Intrinsic_R = cvMat( 3, 3, CV_64FC1, intrinsicR );
//Vecteur de Rotation
CvMat Rot_vect_L = cvMat( 1, 3, CV_64FC1, rotL);
CvMat Rot_vect_R = cvMat( 1, 3, CV_64FC1, rotR);
//Declaration de la matrice 3x3 qui sera la matrice de rotation
CvMat* Rot_matrix_L = cvCreateMat(3,3,CV_64FC1);
CvMat* Rot_matrix_R = cvCreateMat(3,3,CV_64FC1);
//Declaration de la matrice 4x4 qui contiendra rotation+translation
CvMat* Extrinsic_matrix_L = cvCreateMat(4,4,CV_64FC1);
CvMat* Extrinsic_matrix_R = cvCreateMat(4,4,CV_64FC1);
//Matrice stereo nécessaire au calcul de la matrice essentielle
CvMat *Stereo_matrix = cvCreateMat( 4, 4, CV_64FC1 );
CvMat *tmp1 = cvCreateMat( 3, 3, CV_64FC1 );
CvMat *tmp2 = cvCreateMat( 3, 3, CV_64FC1 );
CvMat *E_matrix = cvCreateMat( 3,3, CV_64FC1 );
CvMat *Fondamental_matrix = cvCreateMat(3,3, CV_64FC1);
//cvRodrigues2 //convert the rot vector to rot matrix for L cam
/*
(r1) (r11 r12 r13)
(r2)========Rodrigues2======>(r21 r22 r23)
(r3) (r31 r32 r33)
*/
cvRodrigues2(&Rot_vect_L,Rot_matrix_L,0);
cvRodrigues2(&Rot_vect_R,Rot_matrix_R,0);
//fill the Extrinsic matrix
/*
(r11 r12 r13 t1)
(r21 r22 r23 t2)
(r31 r32 r33 t3)
( 0 0 0 1 )
*/
//fill the Left Extrinsic Matrix
cvmSet(Extrinsic_matrix_L,0,0,cvmGet(Rot_matrix_L,0,0));
cvmSet(Extrinsic_matrix_L,0,1,cvmGet(Rot_matrix_L,0,1));
cvmSet(Extrinsic_matrix_L,0,2,cvmGet(Rot_matrix_L,0,2));
cvmSet(Extrinsic_matrix_L,1,0,cvmGet(Rot_matrix_L,1,0));
cvmSet(Extrinsic_matrix_L,1,1,cvmGet(Rot_matrix_L,1,1));
cvmSet(Extrinsic_matrix_L,1,2,cvmGet(Rot_matrix_L,1,2));
cvmSet(Extrinsic_matrix_L,2,0,cvmGet(Rot_matrix_L,2,0));
cvmSet(Extrinsic_matrix_L,2,1,cvmGet(Rot_matrix_L,2,1));
cvmSet(Extrinsic_matrix_L,2,2,cvmGet(Rot_matrix_L,2,2));
cvmSet(Extrinsic_matrix_L,0,3,tranL[0]);
cvmSet(Extrinsic_matrix_L,1,3,tranL[1]);
cvmSet(Extrinsic_matrix_L,2,3,tranL[2]);
cvmSet(Extrinsic_matrix_L,3,0,0);
cvmSet(Extrinsic_matrix_L,3,1,0);
cvmSet(Extrinsic_matrix_L,3,2,0);
cvmSet(Extrinsic_matrix_L,3,3,1);
//fill the Right Extrinsic Matrix
cvmSet(Extrinsic_matrix_R,0,0,cvmGet(Rot_matrix_R,0,0));
cvmSet(Extrinsic_matrix_R,0,1,cvmGet(Rot_matrix_R,0,1));
cvmSet(Extrinsic_matrix_R,0,2,cvmGet(Rot_matrix_R,0,2));
cvmSet(Extrinsic_matrix_R,1,0,cvmGet(Rot_matrix_R,1,0));
cvmSet(Extrinsic_matrix_R,1,1,cvmGet(Rot_matrix_R,1,1));
cvmSet(Extrinsic_matrix_R,1,2,cvmGet(Rot_matrix_R,1,2));
cvmSet(Extrinsic_matrix_R,2,0,cvmGet(Rot_matrix_R,2,0));
cvmSet(Extrinsic_matrix_R,2,1,cvmGet(Rot_matrix_R,2,1));
cvmSet(Extrinsic_matrix_R,2,2,cvmGet(Rot_matrix_R,2,2));
cvmSet(Extrinsic_matrix_R,0,3,tranR[0]);
cvmSet(Extrinsic_matrix_R,1,3,tranR[1]);
cvmSet(Extrinsic_matrix_R,2,3,tranR[2]);
cvmSet(Extrinsic_matrix_R,3,0,0);
cvmSet(Extrinsic_matrix_R,3,1,0);
cvmSet(Extrinsic_matrix_R,3,2,0);
cvmSet(Extrinsic_matrix_R,3,3,1);
//Calcul de la matrice Stéréo
//stereo_matrix=Extrinsic_R * (Extrinsic_L)-1
cvInvert(Extrinsic_matrix_L,Extrinsic_matrix_L,CV_LU);//L^-1
cvMatMul(Extrinsic_matrix_R,Extrinsic_matrix_L,Stereo_matrix);
//compute b value which will be usefull to compute 3D coordinates
//b = sqrt(bx²+by²+bz²)
//bx by bz are the translation coeffs of stereo matrix and represents the displacement between the 2cams
printf("\n\n%c Matrice Stereo :\n", 16);
for(int f = 0 ; f<4 ; f++)
{
printf("[");
for(int g = 0 ; g<4 ;g++ )
{
printf("% f ",cvmGet(Stereo_matrix,f,g));
}
printf("]\n");
}
b = cvSqrt(cvmGet(Stereo_matrix,0,3)*cvmGet(Stereo_matrix,0,3)+cvmGet(Stereo_matrix,1,3)*cvmGet(Stereo_matrix,1,3)+cvmGet(Stereo_matrix,2,3)*cvmGet(Stereo_matrix,2,3));
printf("B = %f\n",b);
//compute essential matrix from R matrix
tmp1->data.db[0] = 0;
tmp1->data.db[1] = - Stereo_matrix->data.db[11] ;
tmp1->data.db[2] = Stereo_matrix->data.db[7] ;
tmp1->data.db[3] = Stereo_matrix->data.db[11] ;
tmp1->data.db[4] = 0;
tmp1->data.db[5] = - Stereo_matrix->data.db[3] ;
tmp1->data.db[6] = - Stereo_matrix->data.db[7] ;
tmp1->data.db[7] = Stereo_matrix->data.db[3] ;
tmp1->data.db[8] = 0;
for( i=0 ; i < 3; i++)
{for( j=0 ; j < 3; j++)
cvmSet(tmp2,i,j,cvmGet(Stereo_matrix,i,j));
}
//compute the essential matrix from the product of tmp1&tmp2 : Horaud, chap6 p 192 Vision Par ordinateur
//(a') (0 -bz by) (r11 r12 r13) (x)
//(b')=(bz 0 -bx) x (r21 r22 r23)x(y)
//(c') (-by bx 0) (r31 r32 r33) (1)
//droite img droite = tmp1*tmp2*coordonées point dans l'image gauche
cvMatMul(tmp1,tmp2,E_matrix);
//compute fondamental matrix from essential matrix and Intrinsic param
//(C'^-1)t x E x C^-1=F?
//Inversion des matrices de parametres intrinsèques
cvInvert(&Intrinsic_L,&Intrinsic_L,CV_LU);
cvInvert(&Intrinsic_R,&Intrinsic_R,CV_LU);
//Transposition de la matrice de la caméra droite
cvTranspose(&Intrinsic_R,&Intrinsic_R);
cvMatMul(&Intrinsic_R,E_matrix,E_matrix);
cvMatMul(E_matrix,&Intrinsic_L,Fondamental_matrix);
//Release Matrix
cvReleaseMat(&tmp1);
cvReleaseMat(&tmp2);
cvReleaseMat(&E_matrix);
cvReleaseMat(&Stereo_matrix);
cvReleaseMat(&Extrinsic_matrix_R);
cvReleaseMat(&Extrinsic_matrix_L);
cvReleaseMat(&Rot_matrix_L);
cvReleaseMat(&Rot_matrix_L);
return *Fondamental_matrix; //
} |
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