The second recipe of this chapter showed you how to compute the fundamental matrix of an image pair from a set of matches. In projective geometry, another very useful mathematical entity also exists. This one can be computed from multiview imagery and, as we will see, is a matrix with special properties.

Again, let's consider the projective relation between a 3D point and its image on a camera, which we introduced in the first recipe of this chapter. Basically, we learned that this equation relates a 3D point with its image using the intrinsic properties of the camera and the position of this camera (specified with a rotation and a translation component). If we now carefully examine this equation, ...

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