Extract Translation and Rotation from Fundamental Matrix

Question

I am trying to retrieve translation and rotation vectors from a computed fundamental Matrix. I do use OpenCV and the general approach is from wikipedia. My Code is like this

Answer 1

The 8-point algorithm is the simplest method of computing fundamental matrix, but if care is taken you can perform it well. The key to obtain the good results is proper careful normalization of the input data before constructing the equations to solve. Many of algorithms can do it. Pixels point coordinate must be changed to camera coordinates, you do it in this line:

Mat E = A.t() * F * A;

However this assumption is not accurate. If camera calibration matrix K is known, then you may apply inverse to the point x to obtain the point expressed in normalized coordinates.

X_{norm}= K.inv()*X_{pix} where X_{pix}(2), z is equal 1.

In the case of the 8PA, a simple transformation of points improve and hence in the stability of the results. The suggested normalization is a translation and scaling of each image so that the centroid of the reference points is at origin of the coordinates and the RMS distance of the points from the origin is equal to \sqrt{2}. Note that it is recommended that the singularity condition should be enforced before denormalization.

Reference: check it if : you are still interested

Answer 2

Please take a look at this link:

http://isit.u-clermont1.fr/~ab/Classes/DIKU-3DCV2/Handouts/Lecture16.pdf.

Refer to Page 2. There are two possibilities for R. The first is UWVT and the second is UWTVT. You used the second. Try the first.