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Visualize the epilines of both images. Full article for context and remaining code: https://www.andreasjakl.com/understand-and-apply-stereo-rectification-for-depth-maps-part-2/
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# Visualize epilines | |
# Adapted from: https://docs.opencv.org/master/da/de9/tutorial_py_epipolar_geometry.html | |
def drawlines(img1src, img2src, lines, pts1src, pts2src): | |
''' img1 - image on which we draw the epilines for the points in img2 | |
lines - corresponding epilines ''' | |
r, c = img1src.shape | |
img1color = cv.cvtColor(img1src, cv.COLOR_GRAY2BGR) | |
img2color = cv.cvtColor(img2src, cv.COLOR_GRAY2BGR) | |
# Edit: use the same random seed so that two images are comparable! | |
np.random.seed(0) | |
for r, pt1, pt2 in zip(lines, pts1src, pts2src): | |
color = tuple(np.random.randint(0, 255, 3).tolist()) | |
x0, y0 = map(int, [0, -r[2]/r[1]]) | |
x1, y1 = map(int, [c, -(r[2]+r[0]*c)/r[1]]) | |
img1color = cv.line(img1color, (x0, y0), (x1, y1), color, 1) | |
img1color = cv.circle(img1color, tuple(pt1), 5, color, -1) | |
img2color = cv.circle(img2color, tuple(pt2), 5, color, -1) | |
return img1color, img2color | |
# Find epilines corresponding to points in right image (second image) and | |
# drawing its lines on left image | |
lines1 = cv.computeCorrespondEpilines( | |
pts2.reshape(-1, 1, 2), 2, fundamental_matrix) | |
lines1 = lines1.reshape(-1, 3) | |
img5, img6 = drawlines(img1, img2, lines1, pts1, pts2) | |
# Find epilines corresponding to points in left image (first image) and | |
# drawing its lines on right image | |
lines2 = cv.computeCorrespondEpilines( | |
pts1.reshape(-1, 1, 2), 1, fundamental_matrix) | |
lines2 = lines2.reshape(-1, 3) | |
img3, img4 = drawlines(img2, img1, lines2, pts2, pts1) | |
plt.subplot(121), plt.imshow(img5) | |
plt.subplot(122), plt.imshow(img3) | |
plt.suptitle("Epilines in both images") | |
plt.show() |
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