CentralCamera.E#

Essential matrix from two camera views

Parameters:: other (CentralCamera, SE3, ndarray(3,3)) – second camera view, camera pose or fundamental matrix
Returns:: essential matrix
Return type:: ndarray(3,3)

Compute the essential matrix relating two camera views. The first view is defined by the instance, and second view is specified by:

a camera instance represented by a CentralCamera. Assumes the cameras have the same intrinsics.
a relative motion represented by a SE3
a fundamental matrix

References:

Y.Ma, J.Kosecka, S.Soatto, S.Sastry, “An invitation to 3D”, Springer, 2003. p.177

Seealso:

F decomposeE points2E