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In epipolar geometry,
Or : Optical Center Right
Ol : Optical Center Left
Pl : a point in the left image
Pr : a point in the right image
T = Or - Ol
Pr = R(Pl-T)
In Essential Matirx
Pr*E*Pl = 0;
E = TxR
In Fundamental Matirx
Pr'*F*Pl' = 0;
Relation in two matrices
K : intrinsic
U : epipolar line
E = K.T * F * K
u = F * p
F = K.I.T * E * K.I
U = E * P
u = K.I.T * E * K.I * p
written by chamcham
reference : introductory Techniques for 3d computer vision
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