There is a simple stereo system with one camera placed above the other camera in the y direction (not the x direction is as usual) by a distance of b. In such a case there is no rotation between the cameras, only a translation by a vector T- [0,b,0] First compute the essential matrix E in this case. You are given a point p, in camera co-ordinates in the first image as (X.Vf), and a matching point p2 in the second image where p2 is (X2,y2,f). Write the equation of the epipolar line that contains the matching point p2 in camera co-ordinates in the second image. In this case you are given pi and you have computed E, and you There is a simple stereo system with one camera placed above the other camera in the y direction (not the x direction is as usual) by a distance of b. In such a case there is no rotation between the cameras, only a translation by a vector T- [0,b,0] First compute the essential matrix E in this case. You are given a point p, in camera co-ordinates in the first image as (X.Vf), and a matching point p2 in the second image where p2 is (X2,y2,f). Write the equation of the epipolar line that contains the matching point p2 in camera co-ordinates in the second image. In this case you are given pi and you have computed E, and you