Determine whether image contains epipole
isIn = isEpipoleInImage(F,imageSize)
isIn = isEpipoleInImage(F',imageSize)
[isIn,epipole] = isEpipoleInImage(___)
Code Generation Support:
Compile-time constant input: No restrictions
Supports MATLAB Function block: Yes
Code Generation Support, Usage Notes, and Limitations
A 3-by-3 fundamental matrix computed from stereo images.
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.
The size of the image, and in the format returned by the function
Logical value set to
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).
A 1-by-2 vector indicating the location of the 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 = 1 epipole = 256.2989 99.8517
f = [0 0 1; 0 0 0; -1 0 0]; imageSize = [200, 300]; [isIn,epipole] = isEpipoleInImage(f',imageSize)
isIn = 0 epipole = 1.0e+308 * 0 1.7977