Computing the fundamental matrix of an image pair

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 diagram:

We learned that we can find the image x of a 3D point X by tracing a line joining this 3D point with the camera's center. Conversely, the scene point...