Documentation

This is machine translation

Translated by Microsoft
Mouseover text to see original. Click the button below to return to the English verison of the page.

Note: This page has been translated by MathWorks. Please click here
To view all translated materals including this page, select Japan from the country navigator on the bottom of this page.

isEpipoleInImage

Determine whether image contains epipole

Syntax

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

Description

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.

Input Arguments

F

A 3-by-3 fundamental 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 I2, then:

[P2,1] * F * [P1,1]’ = 0

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

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

Output Arguments

isIn

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

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

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

Examples

collapse all

% 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 =

  256.5465  100.0140

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

  logical

   0


epipole =

  1.0e+308 *

         0    1.7977

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2011a