Calculate the fundamental matrix for stereo rectification
| # ------------------------------------------------------------ | |
| # STEREO RECTIFICATION | |
| # Calculate the fundamental matrix for the cameras | |
| # https://docs.opencv.org/master/da/de9/tutorial_py_epipolar_geometry.html | |
| pts1 = np.int32(pts1) | |
| pts2 = np.int32(pts2) | |
| fundamental_matrix, inliers = cv.findFundamentalMat(pts1, pts2, cv.FM_RANSAC) | |
| # We select only inlier points | |
| pts1 = pts1[inliers.ravel() == 1] | |
| pts2 = pts2[inliers.ravel() == 1] |
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