CentralCamera.epiline

CentralCamera.epiline(p: ndarray, camera2: CentralCamera) → ndarray

Compute epipolar line

Parameters:

• p (array_like(2) or ndarray(2,N)) – image plane point or points

• camera2 (CentralCamera instance) – second camera

Returns:

epipolar line or lines in homogeneous form

Return type:

ndarray(3), ndarray(3,N)

Compute the epipolar line in camera2 induced by the image plane points p in the current camera. Each line is given by

\[\ell = \mat{F} {}^1 \hvec{p}\]

which is in homogeneous form \(\ell_0 u + \ell_1 v + \ell_2 = 0\) and the conjugate point \({}^2 \vec{p}\) lies on this line.

Example:

>>> from machinevisiontoolbox import CentralCamera
>>> from spatialmath import SE3
>>> camera1 = CentralCamera.Default(name='camera1')
>>> camera2 = CentralCamera.Default(pose=SE3(0.1, 0.05, 0), name='camera2')
>>> P = [-0.2, 0.3, 5]  # world point
>>> p1 = camera1.project_point(P)  # project to first camera
>>> camera1.epiline(p1, camera2)   # epipolar line in second camera
array([[-0.0001],
       [ 0.0001],
       [-0.0393]])

References:

• P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 14.2.1.

Seealso:

plot_epiline CentralCamera.F