** Example 1: Converging cameras**

** Example 2: Near parallel cameras**

In general epipolar lines are * not* parallel.

** Degrees of Freedom**

Epipolar geometry depends ** only** on the relative pose
(position and orientation) and internal parameters
of the two cameras, i.e. the position
of the optical centres and image planes. It does ** not**
depend on structure (3D points external to the camera).

There are 7 degrees of freedom:

- 2 to specify the epipole in each image.
- 3 to specify the projectivity between epipolar line pencils.

The ** fundamental matrix**
is the algebraic representation of epipolar geometry.

Wed Apr 16 00:58:54 BST 1997