Question: Recall that the essential matrix E describing the stereo geometry of two calibrated cameras is a function only of the relative rotation and translational offset

Recall that the essential matrix E describing the stereo geometry of two calibrated cameras is a function only of the relative rotation and translational offset between the two cameras. Compute the essential matrix for the following cameras congurations. 3a) The Point Grey "Bumblebee\" stereo camera is a "simple stereo\" system having two cameras side-byside with their optic axes parallel to each other. The baseline distance between the two cameras is 12 cm. Compute the values of the 3x3 essential matrix E for this stereo system. Fill in all the blanks even if they are 0; empty blanks get graded as incorrect. 3b) Consider a variation of the above where the right camera is rotated by 90 degrees to point back at the left camera, as shown in the following diagram representing a top-down view of the cameras (we are looking along the Yaxis of the two cameras, which points into the page). Assume the baseline distance is still 12 cm. Compute the values of the 3x3 essential matrix E for this stereo system. Fill in all the blanks even if they are 0; empty blanks get graded as incorrect. Z X'

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