Task 1.15.3 Added stubs for EssentialMatrixFromFundamentalMatrix.py

scripts/EssentialMatrixFromFundamentalMatrix.py

@@ -0,0 +1,49 @@
+# -*- coding: utf-8 -*-
+
+"""
+MIT License
+
+Copyright (c) 2018 Aditya Vaishampayan, Amrish Bhaskaran
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+"""
+
+# @file    EssentialMatrixFromFundamentalMatrix.py
+# @Author  Aditya Vaishampayan (adityavaishampayan)
+# @Author  Amrish Baskaran (amrish1222)
+# @copyright  MIT
+# @brief  essential matrix E=K.T*F*K
+
+import sys
+
+# noinspection PyBroadException
+try:
+    sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
+except:
+    pass
+
+
+def get_essential_matrix(fundamental_matrix: float, calibration_matrix: float) -> float:
+    """
+    This function obtains an essential matrix from Fundamental matrix
+    :param fundamental_matrix: 3x3 matrix with rank 2
+    :param calibration_matrix: 3x3 camera matrix with camera calibration parameters
+    :return: 3x3 matrix essential matrix E=K.T*F*K
+    """
+    ...