Question: onsider two cameras with reference frames {1} and {2} respectively. As always, the reference frame of each camera is such that the X Y plane

onsider two cameras with reference frames {1} and {2} respectively. As always, the reference frame of each camera is such that the X Y plane is parallel to the image plane and the Z-axis points in the direction of viewing. Assume we know the relative transform g21 = (R,T) SE(3). Additionally, assume the cameras are calibrated and normalized, so that the camera matrix K is the identity

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