camera A intrinsics
f
px
u
0
px
v
0
px
camera B intrinsics
f
px
u
0
px
v
0
px
camera B origin, in A
x
y
z
camera B orientation, in A
pan
°
about y
tilt
°
about x
roll
°
about z
what B sees of A
controls
snap
px
clear images
reset cameras
reset view
cube
principal point & epipole
drag 3D view to orbit · shift-drag pans · scroll zooms
camera A — the world frame
· click to choose \(\v{r}_p^{S_A}\)
camera B
· click to choose \(\v{r}_p^{S_B}\)
the world — two rays, one point
\(\lambda_a \v{r}_p^{S_A} = \v{K}_f^{A}\m{\v{I}_3 & \v{0}}\v{r}_P^W \quad \lambda_b \v{r}_p^{S_B} = \v{K}_f^{B}\m{\v{R}_A^B & \v{o}_A^B}\v{r}_P^W\)