 Let the 3D coordinates of a point P be formula_10 and formula_11 relative to each camera's coordinate system.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.