$h(R,t)=f(E)=\sum_{i} (x_{i}^{T}Ex'_{i})^2$
with $x_i=[x_{i1}x_{i2}1]^T$ and $x'_i=[x'_{i1}x'_{i2}1]^T$ being corresponding points on the image plane defined in the respective camera coordinates. The essential matrix $E=[t]_{x} R$ is a 3 x 3 rank-2 matrix. In this formulation, the translation between the two cameras is described by the unit vector t, and the relative camera orientation is defined by the orthogonal rotation matrix R. Both t and R are expressed in the coordinate frame of x. Due to the formulation of the problem, E is guaranteed to have only 5 degrees of freedom: 3 to describe the rotation and 2 to determine the translation up to scale. Hence, h is defined on a 5D manifold embedded in 9D space. For more detailed information on the definition of this problem, see the manuscript by.
energydata(camera_estimation)
summary(energy)
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