Following my other post, you can extract the equation for epipolar lines. Basically choosing one point in one image and using fundamental matrix, we will get a line in the other image:
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/* FM_7POINT 7-point algorithm FM_8POINT 8-point algorithm FM_LMEDS least-median algorithm. 7-point algorithm is used. FM_RANSAC ANSAC algorithm. It needs at least 15 points. 7-point algorithm is used */ cv::Mat fundamentalMatrix= cv::findFundamentalMat(imagePointsLeftCamera, imagePointsRightCamera, cv::FM_8POINT); std::vector<cv::Vec3d> leftLines, rightLines; cv::computeCorrespondEpilines(imagePointsLeftCamera, 1, fundamentalMatrix, rightLines); cv::computeCorrespondEpilines(imagePointsRightCamera, 2, fundamentalMatrix, leftLines); cv::Mat leftImageRGB(leftImage.size(), CV_8UC3); cv::cvtColor(leftImage, leftImageRGB, CV_GRAY2RGB); cv::Mat rightImageRGB(rightImage.size(), CV_8UC3); cv::cvtColor(rightImage, rightImageRGB, CV_GRAY2RGB); cv::Mat imagePointLeftCameraMatrix=cv::Mat_<double>(3,1); for(std::size_t i=0;i<rightLines.size();i=i+1) { cv::Vec3d l=rightLines.at(i); double a=l.val[0]; double b=l.val[1]; double c=l.val[2]; std::cout<<"------------------------a,b,c Using OpenCV (ax+by+c=0)------------------------------"<<std::endl; std::cout<< a <<", "<<b <<", "<<c <<std::endl; std::cout<<"------------------------calculating a,b,c (ax+by+c=0) ------------------------------"<<std::endl; imagePointLeftCameraMatrix.at<double>(0,0)=imagePointsLeftCamera[i].x; imagePointLeftCameraMatrix.at<double>(1,0)=imagePointsLeftCamera[i].y; imagePointLeftCameraMatrix.at<double>(2,0)=1; cv::Mat rightLineMatrix=fundamentalMatrix*imagePointLeftCameraMatrix; std::cout<< rightLineMatrix.at<double>(0,0) <<", "<<rightLineMatrix.at<double>(0,1) <<", "<<rightLineMatrix.at<double>(0,2) <<std::endl; /////////////////////////////////drawing the line on the image///////////////////////////////// /*ax+by+c=0*/ double x0,y0,x1,y1; x0=0; y0=(-c-a*x0)/b; x1=rightImageRGB.cols; y1=(-c-a*x1)/b; std::cout<<"error: "<< a*imagePointsRightCamera.at(i).x+ b*imagePointsRightCamera.at(i).y +c<<std::endl; cv::line(rightImageRGB, cvPoint(x0,y0), cvPoint(x1,y1), cvScalar(0,255,0), 1); } cv::imwrite("leftImageEpipolarLine.jpg",leftImageRGB); |
