Determine whether image contains epipole
Determine Epipole Location in an Image
% 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
3-by-3 matrix (default)
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.
imageSize — Image size
Image size, specified in the format returned by the
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.
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Introduced in R2011a