Equation (5) seems wrong?

[caiyongqi]

The E = [R|t] is the transformation matrix from the world coordinates to the camera coordinate, so the direction (d) of the light should be:

and the camera position (t) should be:

so the Plücker coordinates is (d, d x t)?

[F-Barto]

They use world-to-camera convention for the extrinsic camera parameters. So the Extrinsics are the inverse of the usual camera-to-world definition.