Refer to Figure 1. We have a binocular system which is placed on top of a workspace. All the axes X, Y and Z are parallel, respectively. In the coordinate system of the workspace, the distance between camera's origin (0;; or OR) and image plane's origin (0) is 20.0 cm. Also, the image plane's origin ofthe left camera is at (10.0, 20.0, -100.0) (cm), While the image plane's origin ofthe right camera is at (30.0, 20.0, -100.0) (cm). Assume that the image resolution is 2048x2048 for both image planes. For both the left and right cameras, the origin of image plane is at (1023, 1023) (pixel), and the size of pixel is 0.001 (height) x 0.002 (width) (cm). Given the coordinates (1600, 800) (pixels) in the right camera's index coordinate system uv, what is the equation of epipolar line in the left camera's image coordinate system oxy? Left Camera's Coordinate System Right Camera's Coordinate System OL XL OR YL YRK >u O X O X YK YV Image Plane Image Plane bk ZR Ow Xw Z w Workspace Yw Figure:1