rel_pose_to_fundamental_matrix — Compute the fundamental matrix from the relative orientation of two cameras.
Cameras including lens distortions can be modeled by the following set of parameters: the focal length f, two scaling factors , the coordinates of the principal point and the distortion coefficient . For a more detailed description see the operator calibrate_cameras. Only cameras with a distortion coefficient equal to zero project straight lines in the world onto straight lines in the image. This is also true for cameras with tilt lenses. rel_pose_to_fundamental_matrix handles tilt lenses correctly. However, for reasons of simplicity, tilt lenses are ignored in the formulas below. If the distortion coefficient is equal to zero, image projection is a linear mapping and the camera, i.e., the set of internal parameters, can be described by the camera matrix CamMat:
The conversion operator rel_pose_to_fundamental_matrix is used especially for a subsequent visualization of the epipolar line structure via the fundamental matrix, which depicts the underlying stereo geometry.
Relative orientation of the cameras (3D pose).
6x6 covariance matrix of relative pose.
Default value: 
Parameters of the 1. camera.
Number of elements: CamPar1 == 8 || CamPar1 == 10 || CamPar1 == 12 || CamPar1 == 14
Parameters of the 2. camera.
Number of elements: CamPar2 == 8 || CamPar2 == 10 || CamPar2 == 12 || CamPar2 == 14
Computed fundamental matrix.
9x9 covariance matrix of the fundamental matrix.