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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 3.2//EN"><html><head><title>Example of finding the fundamental matrix using RANSAC</title></head><body bgcolor="#ffffff" vlink="#ff0000"><h2>Example of finding the fundamental matrix using RANSAC</h2><hr><center><table><tr><td><a href=im1.jpg><img src=im1.jpg></a><br> im1.jpg <td><a href=im2.jpg><img src=im2.jpg></a><br> im2.jpg</table></center><pre> thresh = 500; % Harris corner threshold nonmaxrad = 3; % Non-maximal suppression radius im1 = imread('im1.jpg'); im2 = imread('im2.jpg'); % Find Harris corners in image1 and image2 [cim1, r1, c1] = harris(im1, 1, thresh, 3); show(im1,1), hold on, plot(c1,r1,'r+'); [cim2, r2, c2] = harris(im2, 1, thresh, 3); show(im2,2), hold on, plot(c2,r2,'r+');</pre><center><table><tr><td><img src=im1c.jpg> <td><img src=im2c.jpg></table></center><pre> w = 7; % Window size for correlation matching [m1,m2] = matchbycorrelation(im1, [r1';c1'], im2, [r2';c2'], w); % Display putative matches show(im1,3), set(3,'name','Putative matches'), hold on for n = 1:length(m1); line([m1(2,n) m2(2,n)], [m1(1,n) m2(1,n)]) end</pre><center><img src=putative.jpg></center><pre> % Assemble homogeneous feature coordinates for fitting of the % fundamental matrix, note that [x,y] corresponds to [col, row] x1 = [m1(2,:); m1(1,:); ones(1,length(m1))]; x2 = [m2(2,:); m2(1,:); ones(1,length(m1))]; t = .001; % Distance threshold for deciding outliers [F, inliers] = ransacfitfundmatrix(x1, x2, t); % Display both images overlayed with inlying matched feature points show(double(im1)+double(im2),4), set(4,'name','Inlying matches'), hold on plot(m1(2,inliers),m1(1,inliers),'r+'); plot(m2(2,inliers),m2(1,inliers),'g+'); for n = inliers line([m1(2,n) m2(2,n)], [m1(1,n) m2(1,n)],'color',[0 0 1]) end</pre><center><img src=inliers.jpg></center><pre> % Step through each matched pair of points and display the % corresponding epipolar lines on the two images. l2 = F*x1; % Epipolar lines in image2 l1 = F'*x2; % Epipolar lines in image1 for n = inliers figure(1), clf, show(im1,1), hold on, plot(x1(1,n),x1(2,n),'r+'); hline(l1(:,n)); figure(2), clf, show(im2,2), hold on, plot(x2(1,n),x2(2,n),'r+'); hline(l2(:,n)); fprintf('hit any key to see next point\r'); pause end</pre><center><table><tr><td><img src=match1.jpg> <td><img src=match2.jpg></table></center><a href=testfund.m>testfund.m</a> download the code above<hr></body></html>⌨️ 快捷键说明
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