[37] | 1 | % By Philip Torr 2002
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| 2 | % copyright Microsoft Corp.
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| 3 | % so we display an epipolar line from image 1 into image 2
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| 4 | %%%%%%%
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| 5 |
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| 6 | %display the epipolar geometetry for all matches
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| 7 | function torr_disp_epip_geom(f,matches,ax_handle2,ax_handle3,m3)
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| 8 |
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| 9 | % (x2 y2 m3) F (x1 y1 m3)'
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| 10 | % (image 2) F ( image 1)'
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| 11 |
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| 12 | %while 1
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| 13 |
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| 14 | %this takes one image and draws the corresponding epipolar line.
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| 15 | Fmat = [[f(1) f(2) f(3)]; [f(4) f(5) f(6)];[f(7) f(8) f(9)]];
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| 16 |
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| 17 |
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| 18 |
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| 19 | [U,S,V] = svd(Fmat);
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| 20 | S(3,3) = 0;
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| 21 | F2 = U*S*V';
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| 22 |
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| 23 | [v,d] = eig(F2);
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| 24 | ee = v(:,1);
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| 25 | %Fmat * ee
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| 26 |
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| 27 |
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| 28 |
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| 29 | axes(ax_handle2);
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| 30 | hold on
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| 31 |
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| 32 | n_plots = length(matches);
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| 33 |
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| 34 | % plot(matches(:,1),matches(:,2), 'w+','LineWidth',2);
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| 35 | xxx1 = [matches(:,1),matches(:,2), ones(n_plots,1) * m3];
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| 36 |
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| 37 | % (x2 y2 m3) F (x1 y1 m3)'
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| 38 | % (image 2) F ( image 1)'
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| 39 |
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| 40 | el2 = F2 * xxx1';
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| 41 | %is this the wrogn way round>
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| 42 | el2 = el2';
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| 43 |
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| 44 |
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| 45 | axes(ax_handle3);
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| 46 |
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| 47 | %define two points x1 = 0, x2 =
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| 48 | % note x 1 + y 2 + m3 3 = 0
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| 49 | % y = (-m3 3 - x 1 ) / 2
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| 50 |
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| 51 |
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| 52 | x1 = ones(n_plots,1) * -20000;
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| 53 | % y1 = - (el2(:,3) * m3) ./el2(:,2);
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| 54 | y1 = (- (el2(:,3) * m3) - (x1(:) .* el2(:,1))) ./el2(:,2);
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| 55 |
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| 56 | x2 = ones(n_plots,1) * 2000;
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| 57 | y2 = (- (el2(:,3) * m3) - (x2(:) .* el2(:,1))) ./el2(:,2);
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| 58 |
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| 59 |
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| 60 |
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| 61 | hold on
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| 62 | a = [x1,x2]';
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| 63 | b = [ y1,y2 ]';
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| 64 | % plot(x1,y1, 'g+');
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| 65 | % colours = rand(length(x1),3);
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| 66 | line(a,b,'Color','r');
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| 67 |
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| 68 | hold off
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| 69 |
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| 70 | %end |
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