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OpenCV Computer Vision Application Programming Cookbook Second Edition 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 relationship that exists between two images that display the same scene. These two images could have been obtained by moving a camera at two different locations to take 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 shown in the following figure:

We learned that we can find the image x of a 3D point X by tracing a line joining this 3D point ...

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