rel_pose_to_fundamental_matrixT_rel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrix — 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_camerascalibrate_camerasCalibrateCamerascalibrate_camerasCalibrateCamerasCalibrateCameras. 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_matrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrix 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_matrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixrel_pose_to_fundamental_matrixRelPoseToFundamentalMatrixRelPoseToFundamentalMatrix is
used especially for a subsequent visualization of the epipolar line
structure via the fundamental matrix, which depicts the underlying
stereo geometry.