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Determine whether image contains epipole


  • isIn = isEpipoleInImage(F,imageSize)
  • isIn = isEpipoleInImage(F',imageSize)
  • [isIn,epipole] = isEpipoleInImage(___)


isIn = isEpipoleInImage(F,imageSize) determines whether the first stereo image associated with the fundamental matrix F contains an epipole. imageSize is the size of the first image, and is in the format returned by the function size.

isIn = isEpipoleInImage(F',imageSize) determines whether the second stereo image associated with the fundamental matrix F' contains an epipole.

[isIn,epipole] = isEpipoleInImage(___) also returns the epipole.

Code Generation Support:
Compile-time constant input: No restrictions
Supports MATLAB Function block: Yes
Code Generation Support, Usage Notes, and Limitations

Input Arguments


A 3-by-3 fundamental matrix computed from stereo images. If P1 represents a point in the first image I1 that corresponds to P2, a point in the second image I2, then:

[P2,1] * F * [P1,1]' = 0

F must be double or single.


The size of the image, and in the format returned by the function size.

Output Arguments


Logical value set to true when the image contains an epipole, and set to false when the image does not contain an epipole.


A 1-by-2 vector indicating the location of the epipole.


expand all

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 =


epipole =

  256.2989   99.8517

Determine Whether Image Contains Epipole

    f = [0 0 1; 0 0 0; -1 0 0];
    imageSize = [200, 300];
    [isIn,epipole] = isEpipoleInImage(f',imageSize)
isIn =


epipole =

  1.0e+308 *

         0    1.7977

See Also


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