vision stereo & 3d reconstruction

fundamental matrix

representation of Epipolar Constraint

X_l @ F_mat @ X_r.T = 0

Epiline generation

[a b c] = L_r = X_l @ F_mat

ref: https://youtu.be/izpYAwJ0Hlw?si=0FTbJPKoSmGaX1GY

connection with 3d camera formula

X_uv = Int @ (R|t) @ X_xyz