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Epipolar geometry

Implementation of several algorithms of epipolar geometry in python. The main purpose was to create understandable and well-commented code to let everyone know how this algorithms work

Currently(15.07.23) implemented algorithms

  • Fundamental matrix estimation - 8point, 7point, levenberg marquardt

  • RANSAC - simplest RANSAC

To be implemented

  • Normalized 8point + 7point

  • Essential matrix estimation

  • Essential matrix decomposition

  • Probably will continue with implementing further steps of sparse reconstruction(2-view triangulation, P3P, bundle adjustment)

Dependencies

numpy, scipy, matplotlib, openCV(for feature detection+matching and comparison purposes)