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Essential Matrix from 8 points algorithm

In „Multiple View Geometry in Computer Vision” R.Hartley,A.Zisserman in chapter 11 - about computation Fundamental Matrix one can read:

„11.7.3 The calibrated case

In the case of calibrated cameras normalized image coordinates may be used, and the essential matrix E computed instead of the fundamental matrix”

Does it mean – if I have proper Intrinsic Cameras matrices (does it mean calibrated in this case?) I can calculate Essential Matrix directly (using 8 points algorithm) omitting calculating Fundamental Matrix?

And I can get matrices R and T from calculated Essential Matrix to reconstruction 3D model?

Regards,

Artik

Solution

  • Short answer, yes. See also longer explanation on Wikipedia.