Camera Pose & Epipolar Geometry
v0.1.0
Essential Matrix E
E = [t]× R — relates normalized coordinates
Fundamental Matrix F
F = K2-T E K1-1 — relates pixel coordinates
Epipolar Constraint Verification
For corresponding points: x'T F x = 0
❮
Concepts
Camera Pose: position + orientation in 3D space, encoded as rotation R and translation t.
A 3D point P projects to pixel u = K [R|t] P.
Essential Matrix: encodes the relative rotation and translation between two cameras.
Works with normalized (metric) image coordinates.
Fundamental Matrix: the "practical" version of E that works directly with pixel coordinates,
absorbing each camera's intrinsic calibration K.
Epipolar Line: click any projected point in one image.
The matching point in the other image must lie somewhere on the gold line.
This constraint comes from the geometry of the two viewpoints.
Epipolar Plane: the yellow triangle in 3D connecting the two camera
centers and the world point. Its intersection with each image plane produces
the epipolar line.
3D Scene
Orbit: left-drag · Zoom: scroll · Pan: right-drag
Click a 3D-Point in the scene, or a correspondence point (UV) in a camera panel, to see epipolar lines
Press H to fly to top camera, Shift+H for bottom camera