Determine whether image contains epipole
% Load stereo point pairs. load stereoPointPairs f = estimateFundamentalMatrix(matchedPoints1, matchedPoints2, 'NumTrials', 2000); imageSize = [200 300]; % Determine whether the image contains epipole and epipole location. [isIn,epipole] = isEpipoleInImage(f,imageSize)
isIn = logical 1
epipole = 1×2 256.5465 100.0140
F— Fundamental matrix
Fundamental matrix, specified as a 3-by-3 matrix computed from stereo images.
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
| [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.
isIn— Valid epipole
Valid epipole logical, specified as
true when the image contains
an epipole, and
false when the image does not contain an
When the image planes are at a great enough angle to each other, you can expect the epipole to be located in the image.
When the image planes are at a more subtle angle to each other, you can expect the epipole to be located outside of the image, (but still in the image plane).
epipole— Location of epipole
Location of epipole, returned as a 1-by-2 vector.