(Solved) : Project Implement Epipolar Geometry Normalized Cross Correlation Ncc Find Correspondences Q41467292 . . .

For this project, you will implement the epipolar geometry and normalized cross correlation (NCC) to find correspondences across two calibrated camera images. You are provided with the extrinsics between two cameras and their individual intrinsics. The goal is:given two captured images by the two cameras, your program is able to automatically find the correspondence between them using fundamental matrix transformation and NCC matching. Intrinsic parameters of left camera:

Focal Length: fc_left = [ 877.24128 876.55123 ] ± [ 15.6803322.55310 ]
Principal point: cc_left = [ 543.98552 368.43676 ] ± [ 10.423378.95750 ]
Skew: alpha_c_left = [ 0.00000 ] ± [ 0.00000 ] => angle of pixelaxes = 90.00000 ± 0.00000 degrees
Distortion: kc_left = [ -0.21196 0.14815 0.00102 -0.00150 0.00000 ]± [ 0.05302 0.29336 0.00275 0.00739 0.00000 ]

Intrinsic parameters of right camera:

Focal Length: fc_right = [ 878.47023 877.80629 ] ± [ 15.1399122.27732 ]
Principal point: cc_right = [ 541.75639 393.95156 ] ± [ 11.117739.64415 ]
Skew: alpha_c_right = [ 0.00000 ] ± [ 0.00000 ] => angle ofpixel axes = 90.00000 ± 0.00000 degrees
Distortion: kc_right = [ -0.20266 0.14403 -0.00096 -0.00071 0.00000] ± [ 0.04661 0.16347 0.00233 0.00743 0.00000 ]

Extrinsic parameters (position of right camera wrt leftcamera):

Rotation vector: om = [ 0.7646 0.0616 -0.6416 -0.0726 0.99730.0092 0.6404 0.0396 0.7670 ] ± [ 0.01262 0.02368 0.00119 ]
Translation vector: T = [ 294.92002 7.71859 102.50458 ] ± [ 0.211890.12282 1.10228 ]

This sample shows the two cameras’ intrinsics and extrinsics:fc_left – the left camera’s focal length (fx and fy) cc_left – theleft camera’s center offset (cx and cy) Rotation vector – therelative rotation between the left and right cameras. Translationvector – the relative position between the left and right cameras.The data after the “±” symbol are the error deviation, you cansimply ignore them. Also the “skew” and “distortion” are parametersabout the lens, which are not necessary for the project. What youshould achieve? (1) Successfully load and display two (left andright) color images at the same time. (10%) (2) Successfully loadthe intrinsics and extrinsics file (.txt) into OpenCV matrix. (10%)(3) Successfully use camera intrinsics and extrinsics to assemble afundamental matrix. (25%) (4) User selects a pixel on the leftimage by left mouse clicking. Your code should successfully rendera corresponding epipolar line on the right image. This epipolarline should pass through the correspondence on the right image.(25%) (5) Successfully implement NCC to find correspondence fromthe right image. (25%) (6) Write up a “.pdf” document with severalpairs of sample images showing the rendered epipolar line andcorrespondence results. (5%)

Take any image and the code should be in c plus plus(cpp)

 

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Answer to For this project, you will implement the epipolar geometry and normalized cross correlation (NCC) to find correspondence…

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