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 length N 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 lines2{i} in the second image for the point points1{i} in the first image (when WhichImage=1) is computed as:

lines2{i} = F * points1{i}

And vice versa, when WhichImage=2, lines1{i} is computed from points2{i} as:

lines1{i} = F^T * points2{i}

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