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I calculated the fundamental matrix of stereo view, I rectified both images using that fundamental matrix now the epipolar lines should be parallel to the x-axis to prove this, I calculate again the fundamental matrix for the rectified images to check if it gives F=[i]x the antisymmetric matrix representing the cross product with i

you can clearly see in the image that the marked points have the same y (height) however the epipolar lines arent' parallel:

you can clearly see in the image that the marked points have the same y (height) however the epipolar lines arent' parallel.

F that I found is:

   F=[[ 1.89693346e-06 -1.75374506e-04 -2.16090418e-02]
     [ 1.99776626e-04 -1.71071653e-05 -1.89981986e-01]
     [ 2.16519377e-02  1.89151983e-01  1.00000000e+00]]
Paolo Mossini
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yuri
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  • Can you draw the same thing without the 3-d effect, so that the image plane is in the screen plane? – Alex Kreimer Mar 04 '20 at 14:33
  • Alex Kreimer, this is not a 3d effect , this is the effect of rectification, where many image points are out of range – yuri Mar 04 '20 at 14:40
  • Not sure what you mean. Anyway, maybe you can plot the rectified pair like this: http://www.ifp.illinois.edu/~yuhuang/rectify/rectif_4_5_bd.JPG – Alex Kreimer Mar 04 '20 at 19:28
  • yess this is where I want to get to, I want to get a parallel epipolars, regardless how rectified images are plotted I used the open cv cv2.findFundamentalMat to calculate F but somehow I am not getting the right one F should be = [i]x but unfortuantly I am getting other values – yuri Mar 04 '20 at 20:11
  • It may be that your epipolar lines are already ok and what you see as 'non-parallel' is because of the way the images are drawn. Don't forget that (even the 'parallel') epipolar lines meet at the epipole :) – Alex Kreimer Mar 05 '20 at 05:57
  • if this would be the case shouldn't F be =[0 0 0;0 0 -1;0 1 0] – yuri Mar 05 '20 at 07:26
  • Yes, it should (maybe up to scale). You want to post your code? – Alex Kreimer Mar 05 '20 at 10:41

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