Compute epipolar lines for stereo images
lines = epipolarLine(F,points)
lines = epipolarLine(F',points)
This example shows you how to compute the fundamental matrix. It uses the least median of squares method to find the inliers.
The points, matched_points1 and matched_points2, have been putatively matched.
load stereoPointPairs [fLMedS,inliers] = estimateFundamentalMatrix(matchedPoints1,... matchedPoints2,'NumTrials',4000);
Show the inliers in the first image.
I1 = imread('viprectification_deskLeft.png'); figure; subplot(121); imshow(I1); title('Inliers and Epipolar Lines in First Image'); hold on; plot(matchedPoints1(inliers,1),matchedPoints1(inliers,2),'go')
Compute the epipolar lines in the first image.
epiLines = epipolarLine(fLMedS',matchedPoints2(inliers,:));
Compute the intersection points of the lines and the image border.
points = lineToBorderPoints(epiLines,size(I1));
Show the epipolar lines in the first image
Show the inliers in the second image.
I2 = imread('viprectification_deskRight.png'); subplot(122); imshow(I2); title('Inliers and Epipolar Lines in Second Image'); hold on; plot(matchedPoints2(inliers,1),matchedPoints2(inliers,2),'go')
Compute and show the epipolar lines in the second image.
epiLines = epipolarLine(fLMedS,matchedPoints1(inliers,:)); points = lineToBorderPoints(epiLines,size(I2)); line(points(:,[1,3])',points(:,[2,4])'); truesize;
F— Fundamental matrix
Fundamental matrix, specified as a 3-by-3 matrix.
F must be
double or single. If P1 represents a point in the first image
I1 that corresponds to P2, a point in the second
image I2, then:
| [P2,1] * |
In computer vision, the fundamental matrix is a 3-by-3 matrix which relates corresponding points in stereo images. When two cameras view a 3-D scene from two distinct positions, there are a number of geometric relations between the 3-D points and their projections onto the 2-D images that lead to constraints between the image points. Two images of the same scene are related by epipolar geometry.
F'— Fundamental matrix
Fundamental matrix, specified as a 3-by-3 matrix. The
fundamental matrix maps points in image
I2 to epipolar lines in image
points— Coordinates of points
Coordinates of points, specified as an M-by-2 matrix. Each row contains the (x,y) coordinates of a point. M is the number of points.
An M-by-3 matrix, where each row must be in the format, [A,B,C]. This corresponds to the definition of the line:
|A * x + B * y + C = 0.|