How to compute fundamental matrix using a stereo pair?

Question

referring to the question about fundamental matrix,If I had a stereo pair (2 jpeg) and I want to apply Peter Kovesi's or Zisserman's function on order to obtain F, how can I retrieve P1 and P2 ? these two matrices are 3x4 matrices from the two images, but I don't know how they are related... is it right if I take a random 3x4 matrix from grayscale first image and the corrispondent 3x4 matrix in the second image obtained from the first one by using some matching technique such as correlation ? and if it is, do you think that a 3x4 matrix is not detailed enought?

Answer 1

The Computer Vision System Toolbox includes a function estimateFundamentalMatrix that does what you need. Check out this example of how to estimate the fundamental matrix, and then use it for stereo rectification.

Answer 2

Well, most of your doubts would be clarified once you go through Camera Calibration and 3D Reconstruction.

Answer 3

You should not try to construct F from C0 and C1, you should rather use feature matching between the two images and compute F from the matched key points.

You can then set C0 to be eye and compute C1 from F