For points in an image of a stereo pair, computes the corresponding epilines in the other image

lines = cv.computeCorrespondEpilines(points, F)
[...] = cv.computeCorrespondEpilines(..., 'OptionName', optionValue, ...)

Input

• points Input points. Nx2/Nx1x2/1xNx2 floating-point array, or cell array of 2-element vectors {[x,y], ...}.
• F 3x3 Fundamental matrix that can be estimated using cv.findFundamentalMat or cv.stereoRectify.

Output

• lines Output vector of the epipolar lines corresponding to the points in the other image. Each line ax + by + c = 0 is encoded by 3 numbers (a,b,c). Nx3/Nx1x3 numeric matrix or a cell-array of 3-element vectors {[a,b,c], ...} depending on points format.

Options

• WhichImage Index of the image (1 or 2) that contains the points. default 1.

For every point in one of the two images of a stereo pair, the function finds the equation of the corresponding epipolar line in the other image.

From the fundamental matrix definition (see cv.findFundamentalMat), line l_i^(2) in the second image for the point p_i^(1) in the first image (when WhichImage=1) is computed as:

l_i^(2) = F * p_i^(1)

And vice versa, when WhichImage=2, l_i^(1) is computed from p_i^(2) as:

l_i^(1) = F^T * p_i^(2)

Line coefficients are defined up to a scale. They are normalized so that a_i^2 + b_i^2 = 1.