Skip to content

Latest commit

 

History

History

HW4

Folders and files

NameName
Last commit message
Last commit date

parent directory

..
data
data
 
 
python
python
 
 
result
result
 
 
README.md
README.md
 
 
homework4.pdf
homework4.pdf
 
 

README.md

Any Copying from the work of another person is a violation of Carnegie Mellon University Policy on Academic Integrity.

To use

  • Run Q2 - Q4 Testing in main.py to visualize the fundamental matrix estimation (displayEpipolarF) and matching point searching (epipolarMatchGUI) through an interactive GUI.
  • Run visualize.py to visualize the 3D point cloud reconstruction from a pair of images taken at different angles.
  • Run Ransac F in main.py to estimate fundamental matrix using RANSAC on a list of correspondences with noise.
  • Run Bundle Adjustment in main.py to jointly optimize the best camera matrix and 3D points.
    • Using the inlier correspondences and the RANSAC estimate of the extrinsics & 3D points as an intialization

Results

  • Stereo Pair

  • Epipolar Lines Visualization

image

  • Matching Point Searching

image

  • 3D Reconstruction

  • Bundle Adjustment w/ Nonlinear Optimization

image