Homework 6 Camera Calibration




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EECS 442 Computer Vision: Homework 6

• The submission includes two parts:
1. To Gradescope: a pdf file as your write-up, including your answers to all the questions
and key choices you made for solving problems. You might like to combine several files
to make a submission. Here is an example online link for combining multiple PDF files: Please mark where each question is on gradescope.
2. To Canvas: a zip file including all your code.
• The write-up must be an electronic version. No handwriting, including plotting questions. LATEX is
recommended but not mandatory.
Python Environment We are using Python 3.7 for this course. You can find references for the Python
standard library here: We will make use of the following
packages extensively in this course:
• Numpy (
• OpenCV ( Especially, we’re using OpenCV 3.4 in this homework. To install it,
run conda install -c menpo opencv.
• Open3D ( We’re using the latest Open3D to process point cloud. To install
it, run conda install -c open3d-admin open3d or pip install open3d-python
instead. Alternatively, you could not use our provided visualization code, and visualize the point cloud
using matplotlib’s 3D scatterplot.
1 Camera Calibration [20 pts]
The goal is to compute the projection matrix P that goes from world 3D coordinates to 2D image coordinates. Recall that using homogeneous coordinates the equation for moving from 3D world to 2D camera
coordinates is:


 ≡ P


In part 1, you’re given corresponding point locations in pts2d-norm-pic.txt and pts3d-norm.txt,
which corresponds to a camera projection matrix. Solve the projection matrix P and include it in your report.
2 Estimation of the Fundamental Matrix [40 pts]
The next part of this project is estimating the mapping of points in one image to lines in another by means
of the fundamental matrix. This will require you to use similar methods to those in part 1. You’ll work on
the Wizarding Temple dataset, which is shown in Figure 1.
Figure 1: Wizarding Temple Dataset.
Recall that the definition of the Fundamental Matrix is:

0 v
0 1

f11 f12 f13
f21 f22 f23
f31 f32 f33


 = 0
Note: the fundamental matrix is sometimes defined as the transpose of the above matrix with the left and
right image points swapped. Both are valid fundamental matrices, but the visualization functions in the
starter code assume you use the above form.
And another way of writing this matrix equations is:

0 v
0 1

f11u + f12v + f13
f21u + f22v + f23
f31u + f32v + f33

 = 0
Which is the same as:
f11uu0 + f12vu0 + f13u
0 + f21uv0 + f22vv0 + f23v
0 + f31u + f32v + f33 = 0
Given corresponding points you get one equation per point pair. Therefore, you can solve this with 8 or
more points by constructing a system
Af = 0
f = [f11, f12, f13, f21, f22, f23, f31, f32, f33]
and you can use SVD to solve it.
Here are detailed instructions:
1. Load corresponding points from temple.npz.
2. Implement eight-point algorithm and estimate the fundamental matrix F. Report F in your report. Remember to normalize F so that the last entry of F is 1. Hint: You should normalize the
data first. For example, scale the data by dividing each coordinate by the maximum of the images width and height. You may validate your implementation by comparing against the output of
cv2.findFundamentalMat, but you will be graded on your eight-point algorithm.
3. Show epipolar lines. Include the visualization in your report. A sample output is shown as Figure
2. You can call draw epipolar(img1, img2, F, pts1, pts2) in to generate an image like the sample output. Note that you only need to show around 10 points and their
corresponding epipolar lines so that we can verify your calculation is correct.
Figure 2: Epipolar lines of Wizarding Temple Dataset.
3 Triangulation [40 pts]
The next step is extracting 3D points from 2D points and camera matrices, which is called triangulation. Let
X = (X1, X2, X3, 1)T be a point in 3D. For two cameras, we have
x1 = P1X
x2 = P2X
Triangulation is to solve X given x1, x2, P1, P2. We’ll use Direct Linear Transform (DLT) to perform
triangulation, which has already been implemented in OpenCV.
Here are the instructions:
1. Load camera intrinsic matrix K1 and K2 from temple.npz.
2. Extract the essential matrix E given the fundamental matrix F and intrinsic matrices K1 and K2.
Report E. Recall that
F = K−T
2 EK−1
For this question, you may use cv2.findFundamentalMat to obtain the Fundamental matrix.
3. Decompose the essential matrix E and get the rotation matrix R and translation t. You can use
cv2.decomposeEssentialMat. Hint: There are four possible combinations of R and t. The
correct configuration is the one for which most of the 3D points are in front of both cameras (positive
4. Determine the camera projection matrices P1 and P2 according to the intrinsic and extrinsic matrix
[R|t], K1 and K2. Report P1 and P2. You can set
P1 = K1[I 0]
P2 = K2[R t]
5. Triangulate 2D pairs of points to 3D. You can use cv2.triangulatePoints.
6. Visualize the point cloud. Include the visualization in your report from at least 3 views (so that we
can reconstruct it!). A sample output is shown as Figure 3. You may use our provided visualization
function, visualize pcd found in, or you can implement your own visualization. One
good alternative is matplotlib’s 3D scatterplot.
Figure 3: sample output
• Temple dataset.