Homography_Distortion_Removal - Metric Rectification

Description

This project aims to remove the distortions caused by Projective Homography mapping by

• Point - Point correspondence
• Two Step Method
• One Step Method

The projective distortion is rectified upto a Similarity since the dual absolute conic is invariant to similarity. We make use of the angles between lines and estimate the image of the dual absolute conic.

Dependencies

• OpenCV
• NumPy

Inputs

Results

Point - Point Correspondence

Points used for establishing one to one correspondence with world coordinates


After Projective Distortion removal

Two Step Method

_ Remove Projective distortion by mapping imaged Line at Infinity to expected [0, 0, 1].T. After this step, we are left with Affine distortion which can be estimated upto a similarity._


After Final Metric Rectification. Notice that Parallel lines are now intersecting at Line at Infinity [0, 0 ,1].T

One Step Method

Directly estimate the image of absolute conic using five pairs of lines and angles between them.