jmmanley / Vgg Multiple View Geometry
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A set of MATLAB utilities for multiple view geometry, provided alongside Hartley & Zisserman's "Multiple View Geometry in Computer Vision, Second Edition" (2004). Obtained from http://www.robots.ox.ac.uk/~vgg/hzbook/code/.
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MATLAB Functions for Multiple View Geometry
Obtained from http://www.robots.ox.ac.uk/~vgg/hzbook/code/.
Please report any bugs to Andrew Zisserman.
Acknowledgements:
These functions are written by: David Capel, Andrew Fitzgibbon, Peter Kovesi, Tomas Werner, Yoni Wexler, and Andrew Zisserman
VGG MultiView Compute Library
Conversions:
-
vgg_KR_from_P.m
extract K, R from P such that P = KR[eye(3) -t] -
vgg_F_from_P.m
fundamental matrix from 2 cameras -
vgg_P_from_F.m
2 camera matrices from fundamental matrix -
vgg_T_from_P.m
trifocal tensor from 3 cameras -
vgg_H_from_2P_plane.m
inter-image homography from 2 cameras and 3D plane -
vgg_H_from_P_plane.m
projection matrix from image onto 3D plane -
vgg_plane_from_2P_H.m
3D plane from 2 cameras and inter-image homography
Multiview tensors from image correspondences:
-
vgg_H_from_x_lin.m
homography from points in 2 images, linear method -
vgg_H_from_x_nonlin.m
MLE of the above, by nonlinear method -
vgg_Haffine_from_x_MLE.m
MLE of affine transformation from points in 2 images, linear -
vgg_F_from_7pts_2img.m
fundamental matrix from 7 points in 2 images -
vgg_PX_from_6pts_3img.m
cameras and world points from 6 points in 3 images
Preconditioning for estimation:
-
vgg_conditioner_from_image.m
conditioning shift+scaling from image dimensions -
vgg_conditioner_from_pts.m
conditioning shift+scaling from image points
Self-calibration and similar:
-
vgg_signsPX_from_x.m
swaps signs of P and X so that projection scales are positive -
vgg_selfcalib_qaffine.m
quasi-affine from projective reconstruction -
vgg_selfcalib_metric_vansq.m
metric from projective and 3 orthogonal principal directions and square pixels
Estimation:
-
vgg_X_from_xP_lin.m
3D point from image projections and cameras, linear -
vgg_X_from_xP_nonlin.m
MLE of that, non-linear method -
vgg_line3d_from_lP_lin.m
3D line segment from image line segments and cameras, linear -
vgg_line3d_from_lP_nonlin.m
MLE of that, non-linear method
VGG User Interface Library
GUI’s:
-
vgg_gui_F.m
Visualizes epipolar geometry between two views -
vgg_gui_H.m
Visualizes a homography between two views
Examples
These examples use images and matrices included in the directory vgg_examples
. Change to that directory before running the example functions.
-
view_homog_ex.m
Example of usingvgg_gui_H
-
view_fund_ex.m
Example of usingvgg_gui_F
-
Haffine_from_x_MLE_ex.m
Example of usingvgg_Haffine_from_x_MLE
-
F_from_Ps_ex.m
Example on computing F from two camera matrices usingvgg_F_from_P
-
H_from_image_corr_ex.m
Example on computing H from points usingvgg_H_from_x_lin
-
testhomog_vgg.m
Example of computing H from two images from a rotating camera. This example also requiresransacfithomography_vgg.m
and Peter Kovesi's functions (such asmatchbycorrelation.m
andransac.m
). See link below.
Links to other highly recommended Computer Vision software
- Peter Kovesi's Matlab Functions for Computer Vision and Image Analysis
- Jean-Yves Bouguet's Matlab Calibration Software
Note on release versions
November 2012 updates to
ransacfithomography_vgg.m
testhomog_vgg.m
vgg_H_from_x_nonlin.m
To maintain compatibility with Peter Kovesi's functions and for Matlab R2012a compatibility.
Thanks to: Relja Arandjelovic, Peter Corke and Alexander Khanin.
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