[OpenCV] draw epipolar line

void drawEpipolarLines(cv::Mat& image_out, // output image
    cv::Mat& image1, // image 1
    cv::Mat& image2, // image 2
    std::vector<cv::Vec3f> lines1,
    std::vector<cv::Point2f>& points1, // keypoints 1
    std::vector<cv::Point2f>& points2) // keypoints 2)
{
    // for all epipolar lines
    for (std::vector<cv::Vec3f>::const_iterator it = lines1.begin(); it != lines1.end(); ++it)
    {
        // Draw the line between first and last column
        cv::line(image_out,
            cv::Point(0, -(*it)[2] / (*it)[1]),
            cv::Point(image2.cols, -((*it)[2] +
            (*it)[0] * image2.cols) / (*it)[1]),
            cv::Scalar(randomFrom(0, 255), randomFrom(0, 255), randomFrom(0, 255)));
    }

    for (std::vector<cv::Point2f>::const_iterator it = points1.begin(); it != points1.end(); it++)
    {
        cv::circle(image1, (*it), 5, cv::Scalar(randomFrom(0, 255), randomFrom(0, 255), randomFrom(0, 255)), -1, 8, 0);
    }

}