2D-2D: epipolar geometry

$p_1, p_2$ are projections of the same point in space on two image planes.

Define the spatial position of $P$ in the first frame to be: $$P = [X, Y, Z]^T$$ According to the poinhole camera model, we know the pixel positions of the two pixels $p_1, p_2$ are: $$s_1p_1 = KP, s_2p_2 = K(RP + t)$$ where $K$ is the camera intrinsic parameters matrix, $R,t$ are the camera motions between two camera frames.