Hi,

Suppose we have two uncalibrated cameras, and we are
processing some image sequence - in the example contrib\oxl\mvl\examples\compute_FMatrix_example.cxx
, the point coordinates are normalized with w=1.0, i.e we are basically
computing the essential matrix, but, my question is, given that we have no
knowledge of the homogeneous coordinates, is it still possible to obtain a meaningful
error by computing F (with w=1.0 set), and then try to find the camera matrices
by some other method (like bundle adjustment) ?

The purpose is to refine matches by fitting them to
epipolar lines in the beginning, and I was wondering if this is a sensible approach
provided that the matched points’ coordinates are normalized, and we know
nothing about the camera calibration matrices as well (and we don’t do
explicit calibration)? In some publications, unknown cameras are also assumed, but
it’s not very clear to me if, while first computing F or T, coordinates
are normalized or not. (Otherwise, as far as I know, we can obtain the
essential matrix, if knowing the calibration matrices: E = K’*F*K.) Thank
you very much for your help.

Regards,

Angel