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For a correspondence (r1,c1) in
image 1 to (r2,c2) in image 2:
image 1 to (r2,c2) in image 2:
1.
Both cameras were calibrated. Both
camera matrices are
then known. From the two camera equations we get
4 linear equations in 3 unknowns.
r1
= (b11 - b31*r1)x + (b12 - b32*r1)y + (b13-b33*r1)z
c1
= (b21 - b31*c1)x + (b22 - b32*c1)y + (b23-b33*c1)z
r2
= (c11 - c31*r2)x + (c12 - c32*r2)y +
(c13 - c33*r2)z
c2
= (c21 - c31*c2)x + (c22 -
c32*c2)y + (c23 - c33*c2)z
Direct
solution uses 3 equations, won’t give reliable results.