 Since the cameras are normalized, the corresponding image coordinates are

A homogeneous representation of the two image coordinates is then given by

which also can be written more compactly as

where formula_18 and formula_4 are homogeneous representations of the 2D image coordinates and formula_20 and formula_21 are proper 3D coordinates but in two different coordinate systems.Another consequence of the normalized cameras is that their respective coordinate systems are related by means of a translation and rotation.This implies that the two sets of 3D coordinates are related as

where formula_23 is a formula_1 rotation matrix and formula_25 is a 3-dimensional translation vector.