Wide Baseline Matching: Example

Camera Parameters:
X= -1535.21 mm
Y= 1720.84 mm
Z= 1693.22 mm
Omega= -35.16°
Phi= -46.77°
Kappa= -155.57°
U= 320
V=240
f=4.3 mm
Camera Parameters:
X= -1694.56 mm
Y= -142.25 mm
Z= 1585.19 mm
Omega= 25.03°
Phi= -55.56°
Kappa= -47.08°
U= 320
V=240
f=4.3 mm
 
      252.86  687.46  416.25  -1499621.71
P1 =   38.16 -334.61  713.95   -574475.42 
      -0.72    0.39    0.56     -2745.45

     -564.06  625.75    8.86  -880855.81
P2 =  113.52  214.43  751.18  -967898.64
       -0.82   -0.24    0.51    -2243.87


Results

In the above pair, the x's represent the locations of the candidates and the white dotted square are the points accepted as corresponding features. Below are the numeric values of the fundamental matrix, the left, right correspondences and their 3D point locations as well. 

     -35.85      536.65      498887.87
F=   665.36      -72.55    -1395843.87
  561912.11  1038097.58  -304504752.47

x1   y1  x2  y2    X       Y      Z

439  10 556 203 478.46  -177.99 656.44
263  16 580 121 1613.04 -155.61 564.74
266  18 581 123 1605.24 -162.09 555.90
266  18 580 129 1614.40 -168.81 539.51
263  19 578 122 1612.98 -149.43 554.99
262  24 576 124 1630.88 -144.66 533.99
108  27 522 38  2417.11  265.85 646.91
260  27 568 128 1617.58 -121.47 520.73
270  34 573 141 1620.73 -160.77 467.43
141  37 488 47  1874.83  343.27 683.02
55   46 454 11  2253.12  611.64 723.20
112  50 463 43  1954.66  469.82 659.09
70   54 449 18  2129.71  603.02 699.97
73   54 449 21  2113.54  595.14 693.66
266  60 589 175 1977.24 -291.94 211.27
165  63 578 125 2948.40 -159.92 134.75
 72  68 421 30  1955.46  679.46 667.33
77   71 490 60  2748.36  426.20 412.40
187  71 577 136 2728.81 -175.58 118.74
194  71 486 108 1713.20  242.93 462.60
189  74 479 111 1721.56  268.06 447.57
275  83 572 199 1926.65 -263.10  87.58
316  86 186 49   -64.41  776.06 950.63
316  86 177 47   -84.70  788.71 958.37
176 113 468 133 1967.60  315.34 224.47
259 114 404 141  964.55  407.80 472.47
176 115 228 37   454.52  924.64 845.24
246 116 393 144  992.01  447.10 458.15
322 116 382 174  596.36  369.76 498.09
124 147 404 110 1934.51  650.77 237.11
278 150 306 151  528.03  621.62 519.49
308 160 289 165  376.99  616.16 518.20
366 173 304 221  271.20  491.73 409.11
227 176 264 129  583.70  805.84 516.90
268 188 374 212 1046.50  459.81 105.08
497 195 414 389  219.09    0.71  -0.36
323 203 252 200  281.59  676.63 407.23
261 209 276 179  600.76  735.72 328.78
542 209 395 430   21.36   -3.68  -9.44
381 217 296 270  282.17  484.88 214.86
369 228 308 277  393.64  474.63 123.77
450 235 335 356  216.83  271.15  -0.58
306 236 221 207  282.78  777.34 340.31
379 237 286 286  296.08  509.27 133.36
420 238 329 335  312.69  331.12  -5.56
348 248 252 255  289.97  646.67 195.19
341 268 234 263  286.23  701.26 143.46
304 326 181 267  308.26  903.43  23.93
304 326 181 267  308.26  903.43  23.93
308 326 183 269  302.84  892.95  20.36
318 344 161 281  219.14  924.53   2.53
 37 448 34 147   604.73 1781.73  75.88