www.gusucode.com > vision 源码程序 matlab案例代码 > vision/ComputeFundamentalMatrixExample.m
%% Compute Fundamental Matrix % This example shows you how to compute the fundamental matrix. It uses % the least median of squares method to find the inliers. %% % The points, matched_points1 and matched_points2, have been putatively % matched. load stereoPointPairs [fLMedS,inliers] = estimateFundamentalMatrix(matchedPoints1,... matchedPoints2,'NumTrials',4000); %% % Show the inliers in the first image. I1 = imread('viprectification_deskLeft.png'); figure; subplot(121); imshow(I1); title('Inliers and Epipolar Lines in First Image'); hold on; plot(matchedPoints1(inliers,1),matchedPoints1(inliers,2),'go') %% % Compute the epipolar lines in the first image. epiLines = epipolarLine(fLMedS',matchedPoints2(inliers,:)); %% % Compute the intersection points of the lines and the image border. points = lineToBorderPoints(epiLines,size(I1)); %% % Show the epipolar lines in the first image line(points(:,[1,3])',points(:,[2,4])'); %% % Show the inliers in the second image. I2 = imread('viprectification_deskRight.png'); subplot(122); imshow(I2); title('Inliers and Epipolar Lines in Second Image'); hold on; plot(matchedPoints2(inliers,1),matchedPoints2(inliers,2),'go') %% % Compute and show the epipolar lines in the second image. epiLines = epipolarLine(fLMedS,matchedPoints1(inliers,:)); points = lineToBorderPoints(epiLines,size(I2)); line(points(:,[1,3])',points(:,[2,4])'); truesize;