Graphics Reference
In-Depth Information
2.3 3DImageWarping
Figure 2.9 shows a system of two cameras and an arbitrary 3D space point X with the
projection x and x` in the first and second virtual views respectively. All the image points
are ontheimage planeof π.
Figure 2.9:
A point x in one image is transferred via the plane π to a matching point x` in
the second image.Theepipolar line throughx`isobtained byjoining x`tothe epipole e`.In
symbolsonemaywrite x`=H
π
xandl`=[e`]×x`=[e`]×H
π
x=FxwhereF=[e`]×H
π
isthe
fundamentalmatrix
[22].
