opencv - How to determine distance of objects from camera using Epipolar Plane Image? -

i working on converting 2d images 3d environment. images collected video made in lateral motion. images placed 1 behind other, easy find correspondences between 2 images. called spatial-temporal volume.

next take slice spatiotemporal volume. slice called epipolar plane image.

using epipolar plane image, want calculate depth of objects in scene , make 3d enviornment. have listed reference have not been able figure out math described in paper. can me figure out? appreciated.

reference

epipolar-plane image analysis: approach determining structure motion* !

the math in situation easy , straight forward.

first let's define 2 coordinate systems 2 overlapping images taken same camera focal length following schema:

let first camera position defined follows:

while it's orientation using 3 euler angles is:

by using definition corresponding rotation matrix identity matrix

the second camera position can defined follows:

and since orientation same first camera, euler angles remain zero:

which means corresponding rotation matrix identity matrix.

if images overlap , orientation same, situation in image space looks this:

here image coordinates , measurement accuracy defined follows:

this geometrical situation can described using intercept theorem:

as see it's not complicated. aware solution not best, since it's base assumption orientation angles same can't fulfilled in reality.

if need accurate have perform bundle adjustment. however, equations used determine approximated solution geometric situation, values used linearize collinearity equations.