taille_ecran = get(0,'ScreenSize');
L = taille_ecran(3);
H = taille_ecran(4);

decalage_bord = 500;
I_bord = 240*ones(size(I_1,1),decalage_bord,3);
decalage_milieu = 1000;
I_milieu = 240*ones(size(I_1,1),decalage_milieu,3);

figure('Name','Detection des points d''interet','Position',[0.1*L,H,0.8*L,H]);
I_1_2 = cat(2,I_bord,I_1,I_milieu,I_2,I_bord) ;
imagesc(I_1_2);
axis equal;
axis image off;
hold on;

F = inverse_K'*E_estimee*inverse_K;

p_1_select = transpose(K*w_1_select(1:8,:)');
p_2_select = transpose(K*w_2_select(1:8,:)');

for i = 1:size(p_1_select,1)

	% Tracé coloré des pixels sélectionnés :
	x_g = p_1_select(i,1)+decalage_bord;
	y_g = p_1_select(i,2);
	scatter(x_g,y_g,'r','filled');

	x_d = p_2_select(i,1)+decalage_bord+decalage_milieu+size(I_1,2);
	y_d = p_2_select(i,2);
	scatter(x_d,y_d,'g','filled');

	% Équations cartésiennes des droites épipolaires :
	p1 = [x_g-decalage_bord ; y_g ; 1];
	D1 = F*p1;
	p2 = [x_d-decalage_bord-nb_colonnes-decalage_milieu ; y_d ; 1];
	D2 = F'*p2;

	% Tracé de la droite épipolaire droite :
	x_trace = -(decalage_bord/2):nb_colonnes+decalage_bord/2;
	y_trace = -D1(1)/D1(2)*x_trace-D1(3)/D1(2);
	indices = find(y_trace>0 & y_trace<nb_lignes);
	x_trace = x_trace(indices);
	y_trace = y_trace(indices);

	plot(x_trace+decalage_bord+nb_colonnes+decalage_milieu,y_trace,'LineWidth',1,'Color','g');
	hold on;

	% Tracé de la droite épipolaire gauche :
	x_trace = -(decalage_bord/2):nb_colonnes+decalage_bord/2;
	y_trace = -D2(1)/D2(2)*x_trace-D2(3)/D2(2);
	indices = find(y_trace>0 & y_trace<nb_lignes);
	x_trace = x_trace(indices);
	y_trace = y_trace(indices);

	plot(x_trace+decalage_bord,y_trace,'LineWidth',1,'Color','r');
	hold on;
end