Set F matrix

[kafeiyin00]

Hi, Pmoulon! I have a problem with deriving the F matrix from two projection matrices. This setF function is quite different from some tutorials. e.g.

F=[P^{'}C] _{\times}P^{'}P^{+}

Would you please give me a reference for the following function?

template<class T>
void setF(const Image::Ccamera& lhs, const Image::Ccamera& rhs,
      TMat3<T>& F, const int level = 0) {
  const TVec4<T>& p00 = lhs.m_projection[level][0];
  const TVec4<T>& p01 = lhs.m_projection[level][1];
  const TVec4<T>& p02 = lhs.m_projection[level][2];

  const TVec4<T>& p10 = rhs.m_projection[level][0];
  const TVec4<T>& p11 = rhs.m_projection[level][1];
  const TVec4<T>& p12 = rhs.m_projection[level][2];

  F[0][0] = det(TMat4<T>(p01, p02, p11, p12));
  F[0][1] = det(TMat4<T>(p01, p02, p12, p10));
  F[0][2] = det(TMat4<T>(p01, p02, p10, p11));

  F[1][0] = det(TMat4<T>(p02, p00, p11, p12));
  F[1][1] = det(TMat4<T>(p02, p00, p12, p10));
  F[1][2] = det(TMat4<T>(p02, p00, p10, p11));

  F[2][0] = det(TMat4<T>(p00, p01, p11, p12));
  F[2][1] = det(TMat4<T>(p00, p01, p12, p10));
  F[2][2] = det(TMat4<T>(p00, p01, p10, p11));
 };

[pmoulon]

I would assume you would find the theory linked to this in "Multiple view geometry in computer vision Book" by Richard Hartley

[kafeiyin00]

Thanks