我写了下面的函数来执行图像校正。我正在使用标准的MATLAB库函数(estimateUncalibratedRectification和estimateFundamentalMatrix)以及我自己的包装函数,以便MATLAB的matchFeatures执行立体声校正。然而,与相同的输入我每次都得到不同的结果。我知道这与使用RANSAC来估计基本矩阵有关。然而,整改有时是可怕的,其他人也可以通过。例如,在10个不同的我用相同的输入功能的运行,两种结果都没事,而8给了我这个错误变化:MATLAB估计未经校准的校准非确定性行为
Warning: An epipole may be located inside of an image. The epipoles
are located at [285.8503,76.1656] in I1 and [265.5734,130.3931] in I2,
but the specified imageSize was [320,568]. Severe distortion may
result if T1 or T2 are used to transform these images. See
isEpipoleInImage for more information.
> In coder.internal.warning (line 7)
In cvalgEstimateUncalibratedRectification (line 114)
In estimateUncalibratedRectification (line 107)
In pairwiseTransformation (line 48)
我认为,这意味着整改无法投射核点到无穷。
这是怎么回事?值得注意的是,我的图片之间有279条推测匹配和32条inlierMatch。
我的功能:
function [t1, t2] = pairwiseTransformation(img1, img2, features1, features2)
% Identify putative matches
[matches1, matches2] = matchFeaturePoints(rgb2gray(img1), features1, ...
rgb2gray(img2), features2);
% Estimate the fundamental matrix so that matches2' * F * matches1 = 0
% F transforms matches1 to a line that runs through the corresponding
% point in matches1. Therefore, any rotation and translation derived from F
% (and E) will apply to camera 2's relative position, holding camera 1 fixed.
[F, inliers] = estimateFundamentalMatrix(matches1, matches2, 'Method', 'RANSAC', ...
'NumTrials', 2000, 'DistanceThreshold', 1e-4);
% Use the RANSAC inliers to determine the relative position of img2 compared to img1
inlierMatches1 = matches1(inliers, :);
inlierMatches2 = matches2(inliers, :);
[t1, t2] = estimateUncalibratedRectification(F, inlierMatches1, inlierMatches2, ...
size(img1));
r1 = imwarp(img1, projective2d(t1), 'OutputView', imref2d(size(img1)));
r2 = imwarp(img2, projective2d(t2), 'OutputView', imref2d(size(img1)));
figure;
subplot(2,2,1),imshow(img1)
subplot(2,2,2),imshow(img2)
subplot(2,2,3),imshow(r1)
subplot(2,2,4),imshow(r2)
end
这里有一个体面的整流(顶行的原始图像,底部整流):
及这里的给了极点警告完全拙劣的努力:
再看一下,我猜测这个拙劣的努力已经被纠正,只是结果是废话。 – marcman