I wrote this because I needed to calculate transformations between two cameras’ point of view and I just couldn’t find something accesible and straightforward. Hopefully somebody finds it useful.
I have the sad feeling that this article is reinventing what is already well described, in unambiguous and accepted terms. Here I see a reinvention of terms, meanings, notations, which will make it harder for those who will use it through third-party libraries or try to understand it more deeply.
I tried to find anything available by a simple google search.... and couldn't find it.
Therefore, I will get what I had the good fortune to come across also outside the Internet:
[1] Lectures on 3D computer vision. Very rich, detailed, mathematically very accurate. The best one I ever saw on the topic
[2], [3] OpenCV documentation, including camera model and estimation of its position, mutual position of cameras
