Book Image

OpenCV Computer Vision Application Programming Cookbook Second Edition

By : Robert Laganiere
Book Image

OpenCV Computer Vision Application Programming Cookbook Second Edition

By: Robert Laganiere

Overview of this book

OpenCV 3 Computer Vision Application Programming Cookbook is appropriate for novice C++ programmers who want to learn how to use the OpenCV library to build computer vision applications. It is also suitable for professional software developers wishing to be introduced to the concepts of computer vision programming. It can also be used as a companion book in a university-level computer vision courses. It constitutes an excellent reference for graduate students and researchers in image processing and computer vision.
Table of Contents (13 chapters)
12
Index

Computing the fundamental matrix of an image pair

The previous recipe showed you how to recover the projective equation of a single camera. In this recipe, we will explore the projective relationship that exists between two images that display the same scene. These two images could have been obtained by moving a camera at two different locations to take pictures from two viewpoints or by using two cameras, each of them taking a different picture of the scene. When these two cameras are separated by a rigid baseline, we use the term stereovision.

Getting ready

Let's now consider two cameras observing a given scene point, as shown in the following figure:

Getting ready

We learned that we can find the image x of a 3D point X by tracing a line joining this 3D point with the camera's center. Conversely, the scene point that has its image at the position x on the image plane can be located anywhere on this line in the 3D space. This implies that if we want to find the corresponding point of a given...