Goal
Ultimately,i want to draw epipolar line on right image.
Question
If i know points on left image and rotation matrix between left camera and right camera, how can i get Essential matrix for drawing epipolar line on right image?
(so, i don't use 8-points algorithm)
I don't know points on right image and translate.
Also, if i don't know Intrinsic parameter, can i draw epipolar line?
Thank you to read my ask.
Given the following code, information
import numpy as np
human_joints = [[555.386 , 404.46036],
[530.7022 , 406.29446],
[525.9443 , 495.40973],
[524.181 , 567.4924],
[580.57495, 402.6036],
[570.3312 , 490.75363],
[565.38043, 574.8825],
[552.14886, 357.5693],
[558.4907 , 305.46155],
[550.31824, 286.06784],
[553.5209 , 265.68933],
[581.8808 , 324.2853],
[592.437 , 379.61853],
[585.6859 , 423.94284],
[532.6373 , 319.59055],
[513.3627 , 373.28836],
[497.28082, 419.97885]]
K_l = np.array([[1.14967570e+03, 0.00000000e+00, 5.08848622e+02],
[0.00000000e+00, 1.14759162e+03, 5.08064917e+02],
[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
K_r = np.array([[1.14551134e+03, 0.00000000e+00, 5.14968197e+02],
[0.00000000e+00, 1.14477393e+03, 5.01882019e+02],
[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]])
R = np.array([[ 0.7133686 , 0.10367816, -0.69307726], # left to right
[-0.15670811, 0.98755177, -0.01356717],
[ 0.68304305, 0.11828922, 0.72073563]])
print(right_img.shape) # (1002,1000,3)
print(left_img.shape) # (1002,1000,3)
I can't know how can i get Essential matrix or fundamental matrix by using Rotation matrix
