#include <stdio.h>

#include <string.h>

#include <math.h>

#include "opencv2/core/core_c.h"

#include "opencv2/highgui/highgui_c.h"

#include "opencv2/imgproc/imgproc_c.h"

#include "opencv2/calib3d/calib3d.hpp"

int main()

{

    int point_count = 8;

    CvMat* points1;

    CvMat* points2;

    CvMat* status;

    CvMat* fundamental_matrix;

    points1 = cvCreateMat(1, point_count, CV_64FC2);

    points2 = cvCreateMat(1, point_count, CV_64FC2);

    status = cvCreateMat(1, point_count, CV_8UC1);

    for (int i = 0; i < point_count; i++) {

        points1->data.db[i*2] = 1 + i;

        points1->data.db[i*2+1] = 2 + 3 * i;

        points2->data.db[i*2] = 2 + 1.5 * i;

        points2->data.db[i*2+1] = 3 + 2.2 * i;

    }

    fundamental_matrix = cvCreateMat(3,3,CV_32FC1);

    int result = cvFindFundamentalMat(points1, points2, fundamental_matrix, CV_FM_8POINT);

    for (int j = 0; j < 9; j++) {

        if (j % 3 == 0) {

            printf("\n");

        }

        printf("%f ", fundamental_matrix->data.fl[j]);

    }

    return 0;

}