epidist.m

%EPIDIST Distance of point from epipolar line
%
% D = EPIDIST(F, P1, P2) is the distance of the points P2 (2xM) from the 
% epipolar lines due to points P1 (2xN) where F (3x3) is a fundamental matrix
% relating the views containing image points P1 and P2.
%
% D (NxM) is the distance matrix where element D(i,j) is the distance 
% from the point P2(j) to the epipolar line due to point P1(i).
%
% Author::
% Based on fmatrix code by,
% Nuno Alexandre Cid Martins,
% Coimbra, Oct 27, 1998,
% I.S.R.
%
% See also EPILINE, FMATRIX.

function d = epidist(F, p1, p2)

    l = F*e2h(p1);
    for i=1:numcols(p1),
        for j=1:numcols(p2),
            d(i,j) = abs(l(1,i)*p2(1,j) + l(2,i)*p2(2,j) + l(3,i)) ./ sqrt(l(1,i)^2 + l(2,i)^2);
        end
    end