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OpenCV 2 Computer Vision Application Programming Cookbook by Robert Laganière

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Computing the fundamental matrix of an image pair

The previous recipe showed you how to recover the projective equation of a single camera. In this recipe, we will explore the projective relation that exists between two images viewing the same scene. These two images could have been obtained by moving a camera at two different locations taking pictures from two viewpoints, or by using two cameras, each of them taking a different picture of the scene. When these two cameras are separated by a rigid baseline, we use the term stereovision.

Getting ready

Let's now consider two cameras observing a given scene point as seen here:

Getting ready

We learned that we can find ...

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