Epipolar geometry describes the relationship that exists between the resulting pictures of a common scene considered from different view points. Taking the instance of two cameras view of a 3D from two different positions. Several geometric relationships exist between 3D points and the projections towards the 2D images, which result to restriction over the image points. In computing for the relationship that exists in the foregoing scenario, various calculations are made. One part of the analysis involves matching a certain point between the points corresponding to the image. Epipolar lines help in matching these points.
- Calculator
- Linear measuring device such as ruler or meter tape
- Epipolar point
- Epipolar line
- Camera
- Markers
- Focal object or scene
- Epipolar lines equation
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Instructions
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1
Take the projection line of the image planes from one featured point to another. The line will venture into another line on the other image plane. The line is called epipolar line where the featured point should lie.
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2
Compute the epipolar line utilizing the intersections of the plane via the two centers of projection and the featured point.
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3
Applying the vector (Cr-Cl) noted, you can calculate the direction vector pl by the model computation below, since two vectors lie in the plane write the unit normal vector to the epipolar plane.
Apply the model computation and equation in establishing the epipolar line. Some model computations are as follows:
N = p1 x (Cr-CI)/p1 x (Cr-CI)
The plane equation:
n. (P-CI = 0
n. P = n. C1
Where P=(x,y,z)
dr (P-(Cr + fdr) = 0
dr P = dr . Cr + f