Metric Reconstruction

Recover the camera matrices from estimated fundamental matrix F

Use the camera matrices to compute the point correspondences.

Without K1 and K2 (internal calibration),
recover a projective transforme

With K1 and K2,
recover the metric reconstruction.

The epipolar constraint defines a line,

since

x2^T F x1 = l1^T x1 = 0

An epipolar line corresponding to the point x2,

because l1^T x1 = 0

Thus

x2 is on the epipolar line

A point e is epipole,

when the epipolar lines meet at this point e.

Must satisfy:

F e1 = 0

or

e2^T F = 0

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