Compute epipolar lines for stereo images
Compute Fundamental Matrix
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
3-by-3 matrix (default)
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
3-by-3 matrix (default)
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
M-by-2 | point feature object
Coordinates of points, specified as an M-by-2 matrix, where M is the number of points, or a point feature object. The matrix contains the (x,y) coordinates for each point. For details on supported point feature objects, see Point Feature Types.
lines — Lines
An M-by-3 matrix, where M represents the number of lines. Each row of the matrix must be of the form, [A,B,C]. These values corresponds to the definition of the line:
|A * x + B * y + C = 0.|
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version HistoryIntroduced in R2011a
R2022a: Epipolar Line:
epipolarLine function accepts feature point
Support added to specify feature point objects described in Point Feature Types.