Getting the essential from the fundamental matrix Is it possible to get E from F? I suppose that can't work, because then I could calculate the the extrinsic (and maybe also intrinsic?) parameters of the cameras without a calibration object of known size etc. like so:


Pick (8) corresponding points in images i1 and i2
Calculate F with the eight-point-algorithm
Calculate E from F
Determine relative position and orientation of cameras from E (and maybe it is also possible to get the intrinsic parameters, K?)
You can only get the essential matrix from the fundamental matrix if you know the camera intrinsics:

E = K' * F * K

where K is the intrinsic matrix and K' is its transpose.