opencv - Image-based reconstruction using triangulation -


i'm trying implement triangulation algorithm proposed hartley , sturm (here) , i'm having difficulties. think understand idea behind it, i'm not sure how parameterize pencil of epipolar lines.

given 2 images, , estimated fundamental matrix between them, how can i:

1) find epipole coordinates in both images?

2) transform images each desired point in origin , epipole in 1 of axis?

3) calculate new fundamental matrix has special form (see paper page 5)?

afterwards, think can find distance polynomial , minimize it, these steps ones holding me back.

i'm using opencv , example code great :)


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