interframe_camera_estimator.py 文件源码

def calculate_fundamental_matrix(self, previous_pts, current_pts):
        fundamental_matrix, mask = cv2.findFundamentalMat(
            previous_pts,
            current_pts,
            cv2.FM_RANSAC
        )

        if fundamental_matrix is None or fundamental_matrix.shape == (1, 1):
            # dang, no fundamental matrix found
            raise Exception('No fundamental matrix found')
        elif fundamental_matrix.shape[0] > 3:
            # more than one matrix found, just pick the first
            fundamental_matrix = fundamental_matrix[0:3, 0:3]

        return np.matrix(fundamental_matrix)