diff --git a/README.md b/README.md
index e5eaf45..d67aadc 100644
--- a/README.md
+++ b/README.md
@@ -75,3 +75,10 @@ Check `camera_visualizer/visualize_cameras.py` for visualizing cameras in 3D. It
+## Inspect camera parameters
+You can use `camera_inspector/inspect_epipolar_geometry.py` to inspect if the camera paramters are correct and follow the Opencv convention assumed by this codebase. The script creates a viewer for visually inspecting epipolar geometry like below: for key points in the top image, it plots their correspoinding epipolar lines in the bottom image. If the epipolar geometry does not look correct in this visualization, it's likely that there are some issues with the camera parameters.
+
+
+
+
+
diff --git a/camera_inspector/inspect_epipolar_geometry.py b/camera_inspector/inspect_epipolar_geometry.py
new file mode 100644
index 0000000..21121fa
--- /dev/null
+++ b/camera_inspector/inspect_epipolar_geometry.py
@@ -0,0 +1,80 @@
+import cv2
+import numpy as np
+import os
+import json
+
+
+def skew(x):
+ return np.array([[0, -x[2], x[1]],
+ [x[2], 0, -x[0]],
+ [-x[1], x[0], 0]])
+
+
+def two_view_geometry(intrinsics1, extrinsics1, intrinsics2, extrinsics2):
+ relative_pose = extrinsics2.dot(np.linalg.inv(extrinsics1))
+ R = relative_pose[:3, :3]
+ T = relative_pose[:3, 3]
+ tx = skew(T)
+ E = np.dot(tx, R)
+ F = np.linalg.inv(intrinsics2[:3, :3]).T.dot(E).dot(np.linalg.inv(intrinsics1[:3, :3]))
+
+ return E, F, relative_pose
+
+
+def drawpointslines(img1, pts1, img2, lines2, colors):
+ h, w = img2.shape[:2]
+ # img1 = cv2.cvtColor(img1, cv2.COLOR_GRAY2BGR)
+ # img2 = cv2.cvtColor(img2, cv2.COLOR_GRAY2BGR)
+ print(pts1.shape, lines2.shape, colors.shape)
+ for p, l, c in zip(pts1, lines2, colors):
+ c = tuple(c.tolist())
+ img1 = cv2.circle(img1, tuple(p), 5, c, -1)
+
+ x0, y0 = map(int, [0, -l[2]/l[1]])
+ x1, y1 = map(int, [w, -(l[2]+l[0]*w)/l[1]])
+ img2 = cv2.line(img2, (x0, y0), (x1, y1), c, 1, lineType=cv2.LINE_AA)
+ return img1, img2
+
+
+def inspect(img1, K1, W2C1, img2, K2, W2C2):
+ E, F, relative_pose = two_view_geometry(K1, W2C1, K2, W2C2)
+
+ orb = cv2.ORB_create()
+ kp1 = orb.detect(cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY), None)[:20]
+ pts1 = np.array([[int(kp.pt[0]), int(kp.pt[1])] for kp in kp1])
+
+ lines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1, F)
+ lines2 = lines2.reshape(-1, 3)
+
+ colors = np.random.randint(0, high=255, size=(len(pts1), 3))
+
+ img1, img2 = drawpointslines(img1, pts1, img2, lines2, colors)
+
+ im_to_show = np.concatenate((img1, img2), axis=0)
+ # down sample
+ h, w = im_to_show.shape[:2]
+ im_to_show = cv2.resize(im_to_show, (int(0.5*w), int(0.5*h)), interpolation=cv2.INTER_AREA)
+ cv2.imshow('epipolar geometry', im_to_show)
+ cv2.waitKey(0)
+ cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+ base_dir = './'
+
+ img_dir = os.path.join(base_dir, 'train/rgb')
+ cam_dict_file = os.path.join(base_dir, 'train/cam_dict_norm.json')
+ img_name1 = '000001.png'
+ img_name2 = '000005.png'
+
+ cam_dict = json.load(open(cam_dict_file))
+ img1 = cv2.imread(os.path.join(img_dir, img_name1))
+ K1 = np.array(cam_dict[img_name1]['K']).reshape((4, 4))
+ W2C1 = np.array(cam_dict[img_name1]['W2C']).reshape((4, 4))
+
+ img2 = cv2.imread(os.path.join(img_dir, img_name2))
+ K2 = np.array(cam_dict[img_name2]['K']).reshape((4, 4))
+ W2C2 = np.array(cam_dict[img_name2]['W2C']).reshape((4, 4))
+
+ inspect(img1, K1, W2C1, img2, K2, W2C2)
+
diff --git a/camera_inspector/screenshot.png b/camera_inspector/screenshot.png
new file mode 100644
index 0000000..a039bce
Binary files /dev/null and b/camera_inspector/screenshot.png differ
diff --git a/camera_inspector/train/cam_dict_norm.json b/camera_inspector/train/cam_dict_norm.json
new file mode 100644
index 0000000..292119f
--- /dev/null
+++ b/camera_inspector/train/cam_dict_norm.json
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